Whether the swerve motor is a drive motor.
diff --git a/docs/index.html b/docs/index.html
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-
+
Direct Known Subclasses:
-SparkMaxSwerve SparkMaxSwerve TalonFXSwerve TalonSRXSwerve
public abstract class SwerveMotor
diff --git a/docs/swervelib/motors/TalonFXSwerve.CTRE_pidIdx.html b/docs/swervelib/motors/TalonFXSwerve.CTRE_pidIdx.html
new file mode 100644
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+
+
+
+
+
+TalonFXSwerve.CTRE_pidIdx
+
+JavaScript is disabled on your browser.
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+Enum Constant Summary
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+Constructor Summary
+
+Constructors
+Modifier
+Constructor
+Description
+
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+private CTRE_pidIdx
+
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+Method Summary
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+Constructor Detail
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+CTRE_pidIdx
+private CTRE_pidIdx()
+
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+Method Detail
+
+
+
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+valueOf
+public static TalonFXSwerve.CTRE_pidIdx valueOf(String name)
+Returns the enum constant of this type with the specified name.
+The string must match exactly an identifier used to declare an
+enum constant in this type. (Extraneous whitespace characters are
+not permitted.)
+
+Parameters: name - the name of the enum constant to be returned.Returns: the enum constant with the specified name
+Throws: IllegalArgumentException NullPointerException
+
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diff --git a/docs/swervelib/motors/TalonFXSwerve.CTRE_remoteSensor.html b/docs/swervelib/motors/TalonFXSwerve.CTRE_remoteSensor.html
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+++ b/docs/swervelib/motors/TalonFXSwerve.CTRE_remoteSensor.html
@@ -0,0 +1,424 @@
+
+
+
+
+
+TalonFXSwerve.CTRE_remoteSensor
+
+JavaScript is disabled on your browser.
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+Enum Constant Summary
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+Constructor Summary
+
+Constructors
+Modifier
+Constructor
+Description
+
+
+private CTRE_remoteSensor
+
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+Method Summary
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+Enum Constant Detail
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+Constructor Detail
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+Method Detail
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+valueOf
+public static TalonFXSwerve.CTRE_remoteSensor valueOf(String name)
+Returns the enum constant of this type with the specified name.
+The string must match exactly an identifier used to declare an
+enum constant in this type. (Extraneous whitespace characters are
+not permitted.)
+
+Parameters: name - the name of the enum constant to be returned.Returns: the enum constant with the specified name
+Throws: IllegalArgumentException NullPointerException
+
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diff --git a/docs/swervelib/motors/TalonFXSwerve.CTRE_slotIdx.html b/docs/swervelib/motors/TalonFXSwerve.CTRE_slotIdx.html
new file mode 100644
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+
+
+
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+TalonFXSwerve.CTRE_slotIdx
+
+JavaScript is disabled on your browser.
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+Enum Constant Summary
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+Constructor Summary
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+Constructors
+Modifier
+Constructor
+Description
+
+
+private CTRE_slotIdx
+
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+Method Summary
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+Constructor Detail
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+CTRE_slotIdx
+private CTRE_slotIdx()
+
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+Method Detail
+
+
+
+
+
+
+
+
+
+valueOf
+public static TalonFXSwerve.CTRE_slotIdx valueOf(String name)
+Returns the enum constant of this type with the specified name.
+The string must match exactly an identifier used to declare an
+enum constant in this type. (Extraneous whitespace characters are
+not permitted.)
+
+Parameters: name - the name of the enum constant to be returned.Returns: the enum constant with the specified name
+Throws: IllegalArgumentException NullPointerException
+
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diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html
new file mode 100644
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+++ b/docs/swervelib/motors/TalonFXSwerve.html
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+
+
+
+
+
+TalonFXSwerve
+
+JavaScript is disabled on your browser.
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+Field Summary
+
+Fields
+Modifier and Type
+Field
+Description
+
+
+private booleanabsoluteEncoder
+Whether the absolute encoder is integrated.
+
+
+
+private booleanfactoryDefaultOccurred
+Factory default already occurred.
+
+
+
+(package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonFXmotor
+TalonFX motor controller.
+
+
+
+private doublepositionConversionFactor
+The position conversion factor.
+
+
+
+
+
+
+
+
+
+
+
+
+Constructor Summary
+
+Constructors
+Constructor
+Description
+
+
+TalonFXSwerve
+Construct the TalonFX swerve motor given the ID.
+
+
+
+TalonFXSwerve String canbus,
+ boolean isDriveMotor)
+Construct the TalonFX swerve motor given the ID and CANBus.
+
+
+
+TalonFXSwerve
+Constructor for TalonFX swerve motor.
+
+
+
+
+
+
+
+
+
+
+
+Method Summary
+
+All Methods Instance Methods Concrete Methods
+Modifier and Type
+Method
+Description
+
+
+voidburnFlash
+Save the configurations from flash to EEPROM.
+
+
+
+voidclearStickyFaults
+Clear the sticky faults on the motor controller.
+
+
+
+voidconfigureIntegratedEncoder
+Configure the integrated encoder for the swerve module.
+
+
+
+voidconfigurePIDF PIDFConfig config)
+Configure the PIDF values for the closed loop controller.
+
+
+
+voidconfigurePIDWrapping
+Configure the PID wrapping for the position closed loop controller.
+
+
+
+voidfactoryDefaults
+Configure the factory defaults.
+
+
+
+Object getMotor
+Get the motor object from the module.
+
+
+
+doublegetPosition
+Get the position of the integrated encoder.
+
+
+
+doublegetVelocity
+Get the velocity of the integrated encoder.
+
+
+
+booleanisAttachedAbsoluteEncoder
+Queries whether the absolute encoder is directly attached to the motor controller.
+
+
+
+voidset
+Set the percentage output.
+
+
+
+SwerveMotor setAbsoluteEncoder SwerveAbsoluteEncoder encoder)
+Set the absolute encoder to be a compatible absolute encoder.
+
+
+
+voidsetCurrentLimit
+Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
+ voltage compensation.
+
+
+
+voidsetInverted
+Set the motor to be inverted.
+
+
+
+voidsetLoopRampRate
+Set the maximum rate the open/closed loop output can change by.
+
+
+
+voidsetMotorBrake
+Set the idle mode.
+
+
+
+voidsetPosition
+Set the integrated encoder position.
+
+
+
+voidsetReference
+Set the closed loop PID controller reference point.
+
+
+
+voidsetVoltageCompensation
+Set the voltage compensation for the swerve module motor.
+
+
+
+
+
+
+
+Methods inherited from class java.lang.Object
+clone , equals , finalize , getClass , hashCode , notify , notifyAll , toString , wait , wait , wait
+
+
+
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+
+
+Constructor Detail
+
+
+
+
+
+TalonFXSwerve
+public TalonFXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor,
+ boolean isDriveMotor)
+Constructor for TalonFX swerve motor.
+
+Parameters: motor - Motor to use.isDriveMotor - Whether this motor is a drive motor.
+
+
+
+
+
+
+
+TalonFXSwerve
+public TalonFXSwerve(int id,
+ String canbus,
+ boolean isDriveMotor)
+Construct the TalonFX swerve motor given the ID and CANBus.
+
+Parameters: id - ID of the TalonFX on the CANBus.canbus - CANBus on which the TalonFX is on.isDriveMotor - Whether the motor is a drive or steering motor.
+
+
+
+
+
+
+
+TalonFXSwerve
+public TalonFXSwerve(int id,
+ boolean isDriveMotor)
+Construct the TalonFX swerve motor given the ID.
+
+Parameters: id - ID of the TalonFX on the canbus.isDriveMotor - Whether the motor is a drive or steering motor.
+
+
+
+
+
+
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+
+
+Method Detail
+
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+
+configurePIDWrapping
+public void configurePIDWrapping(double minInput,
+ double maxInput)
+Configure the PID wrapping for the position closed loop controller.
+
+Specified by: configurePIDWrapping SwerveMotor Parameters: minInput - Minimum PID input.maxInput - Maximum PID input.
+
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+
+
+setReference
+public void setReference(double setpoint,
+ double feedforward)
+Set the closed loop PID controller reference point.
+
+Specified by: setReference SwerveMotor Parameters: setpoint - Setpoint in MPS or Angle in degrees.feedforward - Feedforward in volt-meter-per-second or kV.
+
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+setCurrentLimit
+public void setCurrentLimit(int currentLimit)
+Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
+ voltage compensation. This is useful to protect the motor from current spikes.
+
+Specified by: setCurrentLimit SwerveMotor Parameters: currentLimit - Current limit in AMPS at free speed.
+
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diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html
new file mode 100644
index 0000000..3741af5
--- /dev/null
+++ b/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html
@@ -0,0 +1,450 @@
+
+
+
+
+
+TalonSRXSwerve.CTRE_pidIdx
+
+JavaScript is disabled on your browser.
+
+
+
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+JavaScript is disabled on your browser.
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+
+
+Enum Constant Summary
+
+
+
+
+
+
+
+
+
+Constructor Summary
+
+Constructors
+Modifier
+Constructor
+Description
+
+
+private CTRE_pidIdx
+
+
+
+
+
+
+
+
+
+
+Method Summary
+
+
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+
+
+Constructor Detail
+
+
+
+
+
+CTRE_pidIdx
+private CTRE_pidIdx()
+
+
+
+
+
+
+
+
+
+
+Method Detail
+
+
+
+
+
+
+
+
+
+valueOf
+public static TalonSRXSwerve.CTRE_pidIdx valueOf(String name)
+Returns the enum constant of this type with the specified name.
+The string must match exactly an identifier used to declare an
+enum constant in this type. (Extraneous whitespace characters are
+not permitted.)
+
+Parameters: name - the name of the enum constant to be returned.Returns: the enum constant with the specified name
+Throws: IllegalArgumentException NullPointerException
+
+
+
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+JavaScript is disabled on your browser.
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diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html
new file mode 100644
index 0000000..34d4bb1
--- /dev/null
+++ b/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html
@@ -0,0 +1,424 @@
+
+
+
+
+
+TalonSRXSwerve.CTRE_remoteSensor
+
+JavaScript is disabled on your browser.
+
+
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+JavaScript is disabled on your browser.
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+Enum Constant Summary
+
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+
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+
+
+
+Constructor Summary
+
+Constructors
+Modifier
+Constructor
+Description
+
+
+private CTRE_remoteSensor
+
+
+
+
+
+
+
+
+
+
+Method Summary
+
+
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+
+Enum Constant Detail
+
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+Constructor Detail
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+Method Detail
+
+
+
+
+
+
+
+
+
+valueOf
+public static TalonSRXSwerve.CTRE_remoteSensor valueOf(String name)
+Returns the enum constant of this type with the specified name.
+The string must match exactly an identifier used to declare an
+enum constant in this type. (Extraneous whitespace characters are
+not permitted.)
+
+Parameters: name - the name of the enum constant to be returned.Returns: the enum constant with the specified name
+Throws: IllegalArgumentException NullPointerException
+
+
+
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diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html
new file mode 100644
index 0000000..bd0df16
--- /dev/null
+++ b/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html
@@ -0,0 +1,450 @@
+
+
+
+
+
+TalonSRXSwerve.CTRE_slotIdx
+
+JavaScript is disabled on your browser.
+
+
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+JavaScript is disabled on your browser.
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+Enum Constant Summary
+
+
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+
+
+
+
+
+
+Constructor Summary
+
+Constructors
+Modifier
+Constructor
+Description
+
+
+private CTRE_slotIdx
+
+
+
+
+
+
+
+
+
+
+Method Summary
+
+
+
+
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+
+
+
+
+
+Constructor Detail
+
+
+
+
+
+CTRE_slotIdx
+private CTRE_slotIdx()
+
+
+
+
+
+
+
+
+
+
+Method Detail
+
+
+
+
+
+
+
+
+
+valueOf
+public static TalonSRXSwerve.CTRE_slotIdx valueOf(String name)
+Returns the enum constant of this type with the specified name.
+The string must match exactly an identifier used to declare an
+enum constant in this type. (Extraneous whitespace characters are
+not permitted.)
+
+Parameters: name - the name of the enum constant to be returned.Returns: the enum constant with the specified name
+Throws: IllegalArgumentException NullPointerException
+
+
+
+
+
+
+
+
+
+
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+JavaScript is disabled on your browser.
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diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html
new file mode 100644
index 0000000..25896ae
--- /dev/null
+++ b/docs/swervelib/motors/TalonSRXSwerve.html
@@ -0,0 +1,915 @@
+
+
+
+
+
+TalonSRXSwerve
+
+JavaScript is disabled on your browser.
+
+
+
+
+
+
+
+
+
+
+
+
+JavaScript is disabled on your browser.
+
+
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+
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+
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+
+
+Nested Class Summary
+
+
+
+
+
+
+
+
+
+Field Summary
+
+Fields
+Modifier and Type
+Field
+Description
+
+
+private booleanabsoluteEncoder
+Whether the absolute encoder is integrated.
+
+
+
+private booleanfactoryDefaultOccurred
+Factory default already occurred.
+
+
+
+(package private) com.ctre.phoenix.motorcontrol.can.WPI_TalonSRXmotor
+TalonSRX motor controller.
+
+
+
+private doublepositionConversionFactor
+The position conversion factor.
+
+
+
+
+
+
+
+
+
+
+
+
+Constructor Summary
+
+Constructors
+Constructor
+Description
+
+
+TalonSRXSwerve
+Construct the TalonSRX swerve motor given the ID.
+
+
+
+TalonSRXSwerve
+Constructor for TalonSRX swerve motor.
+
+
+
+
+
+
+
+
+
+
+
+Method Summary
+
+All Methods Instance Methods Concrete Methods
+Modifier and Type
+Method
+Description
+
+
+voidburnFlash
+Save the configurations from flash to EEPROM.
+
+
+
+voidclearStickyFaults
+Clear the sticky faults on the motor controller.
+
+
+
+voidconfigureIntegratedEncoder
+Configure the integrated encoder for the swerve module.
+
+
+
+voidconfigurePIDF PIDFConfig config)
+Configure the PIDF values for the closed loop controller.
+
+
+
+voidconfigurePIDWrapping
+Configure the PID wrapping for the position closed loop controller.
+
+
+
+voidfactoryDefaults
+Configure the factory defaults.
+
+
+
+Object getMotor
+Get the motor object from the module.
+
+
+
+doublegetPosition
+Get the position of the integrated encoder.
+
+
+
+doublegetVelocity
+Get the velocity of the integrated encoder.
+
+
+
+booleanisAttachedAbsoluteEncoder
+Queries whether the absolute encoder is directly attached to the motor controller.
+
+
+
+voidset
+Set the percentage output.
+
+
+
+SwerveMotor setAbsoluteEncoder SwerveAbsoluteEncoder encoder)
+Set the absolute encoder to be a compatible absolute encoder.
+
+
+
+voidsetCurrentLimit
+Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
+ voltage compensation.
+
+
+
+voidsetInverted
+Set the motor to be inverted.
+
+
+
+voidsetLoopRampRate
+Set the maximum rate the open/closed loop output can change by.
+
+
+
+voidsetMotorBrake
+Set the idle mode.
+
+
+
+voidsetPosition
+Set the integrated encoder position.
+
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+
+voidsetReference
+Set the closed loop PID controller reference point.
+
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+
+voidsetVoltageCompensation
+Set the voltage compensation for the swerve module motor.
+
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+
+Methods inherited from class java.lang.Object
+clone , equals , finalize , getClass , hashCode , notify , notifyAll , toString , wait , wait , wait
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+Constructor Detail
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+TalonSRXSwerve
+public TalonSRXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor,
+ boolean isDriveMotor)
+Constructor for TalonSRX swerve motor.
+
+Parameters: motor - Motor to use.isDriveMotor - Whether this motor is a drive motor.
+
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+TalonSRXSwerve
+public TalonSRXSwerve(int id,
+ boolean isDriveMotor)
+Construct the TalonSRX swerve motor given the ID.
+
+Parameters: id - ID of the TalonSRX on the canbus.isDriveMotor - Whether the motor is a drive or steering motor.
+
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+Method Detail
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+configurePIDWrapping
+public void configurePIDWrapping(double minInput,
+ double maxInput)
+Configure the PID wrapping for the position closed loop controller.
+
+Specified by: configurePIDWrapping SwerveMotor Parameters: minInput - Minimum PID input.maxInput - Maximum PID input.
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+setReference
+public void setReference(double setpoint,
+ double feedforward)
+Set the closed loop PID controller reference point.
+
+Specified by: setReference SwerveMotor Parameters: setpoint - Setpoint in MPS or Angle in degrees.feedforward - Feedforward in volt-meter-per-second or kV.
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+setCurrentLimit
+public void setCurrentLimit(int currentLimit)
+Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
+ voltage compensation. This is useful to protect the motor from current spikes.
+
+Specified by: setCurrentLimit SwerveMotor Parameters: currentLimit - Current limit in AMPS at free speed.
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+JavaScript is disabled on your browser.
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diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html
index ad76058..73832c2 100644
--- a/docs/swervelib/motors/package-summary.html
+++ b/docs/swervelib/motors/package-summary.html
@@ -2,7 +2,7 @@
-
+
swervelib.motors
Swerve motor abstraction which defines a standard interface for motors within a swerve module.
+
+TalonFXSwerve
+TalonFX Swerve Motor.
+
+
+
+TalonSRXSwerve
+WPI_TalonSRX Swerve Motor.
+
+
@@ -135,6 +147,24 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
REV Slots for PID configuration.
+