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thenetworkgrinch
2023-01-29 21:03:26 -06:00
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*.zip filter=lfs diff=lfs merge=lfs -text

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# Compiled class file
*.class
# Log file
*.log
# BlueJ files
*.ctxt
# Mobile Tools for Java (J2ME)
.mtj.tmp/
.idea/
# Package Files #
*.jar
*.war
*.nar
*.ear
*.zip
*.tar.gz
*.rar
# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
hs_err_pid*

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# Yet Another General Swerve Library
* In early 2023 `swerve-lib` created by SwerveDriveSpecialties officially became unmaintained after not being updated in 2022.
* This library aims to simplify Swerve Drive implementations while not sacrificing speed or processing power.
# Features
* When a compatible absolute encoder is given it will be used as a remote encoder for the steering motor reducing CAN messages.
* Autogenerated shuffleboard dashboard for each module which can be updated periodically with the verbosity setting.
* The swerve drive is configurable via JSON files, and you can initialize the entire swerve drive with a similar line as the following.
* Simulation support.
```java
SwerveDrive swerveDrive = SwerveParser.fromJSONDirectory(new File(Filesystem.getDeployDirectory(), "swerve"));
```
# Images
![Field Shuffleboard](.\imgaes\field.png)
![Simulation](.\imgaes\simulation.png)
![Dashbaord as dials](.\imgaes\dashboard_dials.png)
![Dashboard as graphs](.\imgaes\dashboard_graph.png)

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<tr>
<th class="colFirst" scope="col">Class</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></td>
<th class="colLast" scope="row">&nbsp;</th>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></td>
<th class="colLast" scope="row">&nbsp;</th>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></td>
<th class="colLast" scope="row">
<div class="block">The TalonSRX PID to use onboard.</div>
</th>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></td>
<th class="colLast" scope="row">&nbsp;</th>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></td>
<th class="colLast" scope="row">
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
</th>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></td>
<th class="colLast" scope="row">&nbsp;</th>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></td>
<th class="colLast" scope="row">&nbsp;</th>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></td>
<th class="colLast" scope="row">&nbsp;</th>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></td>
<th class="colLast" scope="row">&nbsp;</th>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></td>
<th class="colLast" scope="row">
<div class="block">REV Slots for PID configuration.</div>
</th>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></td>
<th class="colLast" scope="row">
<div class="block">SwerveDrive base which is meant to be platform agnostic.</div>
</th>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a>&lt;<a href="frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> extends com.ctre.phoenix.sensors.CANCoder&gt;</td>
<th class="colLast" scope="row">
<div class="block">Helper class for easier swerve module creation</div>
</th>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></td>
<th class="colLast" scope="row">
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed.</div>
</th>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;<a href="frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="type parameter in SwerveEncoder">AbsoluteEncoderType</a>&gt;</td>
<th class="colLast" scope="row">
<div class="block">Swerve Encoder class definition for common interfaces.</div>
</th>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;<a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="type parameter in SwerveModule">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="type parameter in SwerveModule">AngleMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="type parameter in SwerveModule">AbsoluteEncoderType</a>&gt;</td>
<th class="colLast" scope="row">
<div class="block">Swerve module for representing a single swerve module of the robot.</div>
</th>
</tr>
<tr id="i15" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></td>
<th class="colLast" scope="row">
<div class="block">Swerve Module location on the robot.</div>
</th>
</tr>
<tr id="i16" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></td>
<th class="colLast" scope="row">
<div class="block">Verbosity levels for data publishing,</div>
</th>
</tr>
<tr id="i17" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></td>
<th class="colLast" scope="row">&nbsp;</th>
</tr>
<tr id="i18" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></td>
<th class="colLast" scope="row">&nbsp;</th>
</tr>
<tr id="i19" class="rowColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></td>
<th class="colLast" scope="row">
<div class="block">Motor type for the swerve drive module</div>
</th>
</tr>
<tr id="i20" class="altColor">
<td class="colFirst"><a href="frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></td>
<th class="colLast" scope="row">
<div class="block">Swerve Drive JSON parser.</div>
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<li><a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></li>
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frc.robot.subsystems.swervedrive.swerve
frc.robot.subsystems.swervedrive.swerve.encoders
frc.robot.subsystems.swervedrive.swerve.kinematics
frc.robot.subsystems.swervedrive.swerve.motors

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<h2 title="Class SwerveDrive.SwerveModuleConfig" class="title">Class SwerveDrive.SwerveModuleConfig&lt;DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder&gt;</h2>
</div>
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<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig&lt;DriveMotorType,&#8203;SteeringMotorType,&#8203;AbsoluteEncoder&gt;</li>
</ul>
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<dl>
<dt><span class="paramLabel">Type Parameters:</span></dt>
<dd><code>DriveMotorType</code> - The motor type for the drive motor on the swerve moduule.</dd>
<dd><code>SteeringMotorType</code> - The motor type for the steering motor on the module.</dd>
<dd><code>AbsoluteEncoder</code> - The absolute encoder type.</dd>
</dl>
<dl>
<dt>Enclosing class:</dt>
<dd><a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dd>
</dl>
<hr>
<pre>public static class <span class="typeNameLabel">SwerveDrive.SwerveModuleConfig&lt;DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder&gt;</span>
extends java.lang.Object</pre>
<div class="block">Helper class for easier swerve module creation</div>
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<h3>Field Summary</h3>
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<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleOffset">angleOffset</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
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<td class="colFirst"><code><a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#loc">loc</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code><a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#steering">steering</a></span></code></th>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(DriveMotorType,SteeringMotorType,AbsoluteEncoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">SwerveModuleConfig</a></span>&#8203;(<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>&nbsp;driveMotor,
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>&nbsp;steerMotor,
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&nbsp;encoderSteering,
double&nbsp;offset,
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;location)</code></th>
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<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
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<td class="colFirst"><code><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>,&#8203;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>,&#8203;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModule(double,double,double,double,double,double,double,double,boolean,boolean)">createModule</a></span>&#8203;(double&nbsp;driveGearRatio,
double&nbsp;steerGearRatio,
double&nbsp;wheelDiameterMeters,
double&nbsp;wheelBaseMeters,
double&nbsp;driveTrainWidthMeters,
double&nbsp;steeringMotorFreeSpeedRPM,
double&nbsp;maxSpeedMPS,
double&nbsp;maxDriveAcceleration,
boolean&nbsp;steeringInverted,
boolean&nbsp;drivingInverted)</code></th>
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<div class="block">Create the swerve module from the configuration.</div>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<a id="drive">
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<h4>drive</h4>
<pre>public&nbsp;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController drive</pre>
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<h4>steering</h4>
<pre>public&nbsp;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController steering</pre>
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<h4>encoder</h4>
<pre>public&nbsp;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> extends com.ctre.phoenix.sensors.CANCoder encoder</pre>
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<h4>angleOffset</h4>
<pre>public&nbsp;double angleOffset</pre>
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<h4>loc</h4>
<pre>public&nbsp;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> loc</pre>
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<a id="&lt;init&gt;(edu.wpi.first.wpilibj.motorcontrol.MotorController,edu.wpi.first.wpilibj.motorcontrol.MotorController,com.ctre.phoenix.sensors.CANCoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
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<h4>SwerveModuleConfig</h4>
<pre>public&nbsp;SwerveModuleConfig&#8203;(<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>&nbsp;driveMotor,
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>&nbsp;steerMotor,
<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&nbsp;encoderSteering,
double&nbsp;offset,
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;location)</pre>
<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>driveMotor</code> - Drive motor for the swerve module.</dd>
<dd><code>steerMotor</code> - Steer motor for the swerve module.</dd>
<dd><code>encoderSteering</code> - CANCoder for the steering motor on the swerve module.</dd>
<dd><code>offset</code> - Absolute encoder offset.</dd>
<dd><code>location</code> - Swerve Moduule location on the chassis.</dd>
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<a id="createModule(double,double,double,double,double,double,double,double,boolean,boolean)">
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<h4>createModule</h4>
<pre class="methodSignature">public&nbsp;<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a>,&#8203;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a>,&#8203;<a href="SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a>&gt;&nbsp;createModule&#8203;(double&nbsp;driveGearRatio,
double&nbsp;steerGearRatio,
double&nbsp;wheelDiameterMeters,
double&nbsp;wheelBaseMeters,
double&nbsp;driveTrainWidthMeters,
double&nbsp;steeringMotorFreeSpeedRPM,
double&nbsp;maxSpeedMPS,
double&nbsp;maxDriveAcceleration,
boolean&nbsp;steeringInverted,
boolean&nbsp;drivingInverted)</pre>
<div class="block">Create the swerve module from the configuration.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>driveGearRatio</code> - Drive gear ratio in form of (rotation:1 AKA rotations/1) to get the encoder
ticks per rotation.</dd>
<dd><code>steerGearRatio</code> - Steering motor gear ratio (usually 12.8:1 for MK4 in form of rotations:1 or
rotations/1), only applied if using Neo's.</dd>
<dd><code>wheelDiameterMeters</code> - The wheel diameter of the swerve drive module in meters.</dd>
<dd><code>wheelBaseMeters</code> - The Distance between front and back wheels of the robot in meters.</dd>
<dd><code>driveTrainWidthMeters</code> - The Distance between centers of right and left wheels in meters.</dd>
<dd><code>steeringMotorFreeSpeedRPM</code> - The RPM free speed of the steering motor.</dd>
<dd><code>maxSpeedMPS</code> - The maximum drive speed in meters per second.</dd>
<dd><code>maxDriveAcceleration</code> - The maximum drive acceleration in meters^2 per second.</dd>
<dd><code>steeringInverted</code> - The steering motor is inverted.</dd>
<dd><code>drivingInverted</code> - The driving motor is inverted.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The Swerve Module.</dd>
</dl>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
<h2 title="Class SwerveEncoder" class="title">Class SwerveEncoder&lt;AbsoluteEncoderType&gt;</h2>
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<li>java.lang.Object</li>
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<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.SwerveEncoder&lt;AbsoluteEncoderType&gt;</li>
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<dt>Direct Known Subclasses:</dt>
<dd><code><a href="encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></code>, <code><a href="encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></code>, <code><a href="encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></code>, <code><a href="encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></code></dd>
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<pre>public abstract class <span class="typeNameLabel">SwerveEncoder&lt;AbsoluteEncoderType&gt;</span>
extends java.lang.Object</pre>
<div class="block">Swerve Encoder class definition for common interfaces.</div>
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<td class="colFirst"><code><a href="SwerveEncoder.html" title="type parameter in SwerveEncoder">AbsoluteEncoderType</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoder">m_encoder</a></span></code></th>
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<div class="block">The encoder can be directly referenced for configuration purposes of onboard PIDs.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveEncoder</a></span>()</code></th>
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<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
<td class="colLast">
<div class="block">Configure the absolute encoder if possible.</div>
</td>
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<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset encoder to factory default settings, if possible.</div>
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<tr id="i2" class="altColor">
<td class="colFirst"><code>static &lt;AbsoluteEncoderType&gt;<br><a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></span>&#8203;(AbsoluteEncoderType&nbsp;encoder)</code></th>
<td class="colLast">
<div class="block">Get the SwerveEncoder class from the given encoder types</div>
</td>
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<tr id="i3" class="rowColor">
<td class="colFirst"><code>abstract double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the absolute position in degrees.</div>
</td>
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<tr id="i4" class="altColor">
<td class="colFirst"><code>abstract com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the magnetic field strength, if available.</div>
</td>
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<tr id="i5" class="rowColor">
<td class="colFirst"><code>abstract double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>abstract boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Is the encoder reachable?</div>
</td>
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<tr id="i7" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;isInverted)</code></th>
<td class="colLast">
<div class="block">Configure the sensor direction</div>
</td>
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<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>&#8203;(double&nbsp;offset)</code></th>
<td class="colLast">
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
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<h4>m_encoder</h4>
<pre>public&nbsp;<a href="SwerveEncoder.html" title="type parameter in SwerveEncoder">AbsoluteEncoderType</a> m_encoder</pre>
<div class="block">The encoder can be directly referenced for configuration purposes of onboard PIDs.</div>
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<pre class="methodSignature">public static&nbsp;&lt;AbsoluteEncoderType&gt;&nbsp;<a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;fromEncoder&#8203;(AbsoluteEncoderType&nbsp;encoder)</pre>
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<dl>
<dt><span class="paramLabel">Type Parameters:</span></dt>
<dd><code>AbsoluteEncoderType</code> - One of DutyCycleEncoder, AnalogEncoder, AbsoluteEncoder, and CANCoder</dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>encoder</code> - Encoder</dd>
<dt><span class="returnLabel">Returns:</span></dt>
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<div class="block">Get the absolute position in degrees.</div>
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<pre class="methodSignature">public abstract&nbsp;double&nbsp;getVelocity()</pre>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>Velocity in degrees per second.</dd>
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<pre class="methodSignature">public abstract&nbsp;void&nbsp;setOffset&#8203;(double&nbsp;offset)</pre>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
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<div class="block">Is the encoder reachable?</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isInverted</code> - Inverted or not.</dd>
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<h2 title="Enum SwerveModule.SwerveModuleLocation" class="title">Enum SwerveModule.SwerveModuleLocation</h2>
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<li>java.lang.Enum&lt;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&gt;</li>
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<dt>All Implemented Interfaces:</dt>
<dd><code>java.io.Serializable</code>, <code>java.lang.Comparable&lt;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&gt;</code></dd>
</dl>
<dl>
<dt>Enclosing class:</dt>
<dd><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;<a href="SwerveModule.html" title="type parameter in SwerveModule">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="SwerveModule.html" title="type parameter in SwerveModule">AngleMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="SwerveModule.html" title="type parameter in SwerveModule">AbsoluteEncoderType</a>&gt;</dd>
</dl>
<hr>
<pre>public static enum <span class="typeNameLabel">SwerveModule.SwerveModuleLocation</span>
extends java.lang.Enum&lt;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&gt;</pre>
<div class="block">Swerve Module location on the robot.</div>
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<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#FrontLeft">FrontLeft</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#FrontRight">FrontRight</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveModuleLocation</a></span>()</code></th>
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<td class="colFirst"><code>static <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
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<div class="block">Returns the enum constant of this type with the specified name.</div>
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<td class="colFirst"><code>static <a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
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<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
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<pre>public static final&nbsp;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> FrontLeft</pre>
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<pre>public static final&nbsp;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> BackLeft</pre>
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<pre>public static final&nbsp;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> FrontRight</pre>
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<pre>public static final&nbsp;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a> BackRight</pre>
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<pre>private&nbsp;SwerveModuleLocation()</pre>
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<pre class="methodSignature">public static&nbsp;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (SwerveModule.SwerveModuleLocation c : SwerveModule.SwerveModuleLocation.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
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<pre class="methodSignature">public static&nbsp;<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
<h2 title="Enum SwerveModule.Verbosity" class="title">Enum SwerveModule.Verbosity</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>java.lang.Enum&lt;<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>&gt;</li>
<li>
<ul class="inheritance">
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<dt>All Implemented Interfaces:</dt>
<dd><code>java.io.Serializable</code>, <code>java.lang.Comparable&lt;<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>&gt;</code></dd>
</dl>
<dl>
<dt>Enclosing class:</dt>
<dd><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;<a href="SwerveModule.html" title="type parameter in SwerveModule">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="SwerveModule.html" title="type parameter in SwerveModule">AngleMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="SwerveModule.html" title="type parameter in SwerveModule">AbsoluteEncoderType</a>&gt;</dd>
</dl>
<hr>
<pre>public static enum <span class="typeNameLabel">SwerveModule.Verbosity</span>
extends java.lang.Enum&lt;<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>&gt;</pre>
<div class="block">Verbosity levels for data publishing,</div>
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<h3>Enum Constant Summary</h3>
<table class="memberSummary">
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<tr>
<th class="colFirst" scope="col">Enum Constant</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#HIGH">HIGH</a></span></code></th>
<td class="colLast">
<div class="block">Extensively use the CAN bus to fetch data and report back.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#LOW">LOW</a></span></code></th>
<td class="colLast">
<div class="block">The bare minimum and not utilize the CAN bus when reporting data.</div>
</td>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#NORMAL">NORMAL</a></span></code></th>
<td class="colLast">
<div class="block">Utilize the CAN bus minimally.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#SETUP">SETUP</a></span></code></th>
<td class="colLast">
<div class="block">Creates every field for the module.</div>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">Verbosity</a></span>()</code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code>static <a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
<td class="colLast">
<div class="block">Returns the enum constant of this type with the specified name.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>static <a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
<td class="colLast">
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
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<h4>LOW</h4>
<pre>public static final&nbsp;<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> LOW</pre>
<div class="block">The bare minimum and not utilize the CAN bus when reporting data. Only posts data from attributes.</div>
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<h4>NORMAL</h4>
<pre>public static final&nbsp;<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> NORMAL</pre>
<div class="block">Utilize the CAN bus minimally.</div>
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<h4>HIGH</h4>
<pre>public static final&nbsp;<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> HIGH</pre>
<div class="block">Extensively use the CAN bus to fetch data and report back.</div>
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<h4>SETUP</h4>
<pre>public static final&nbsp;<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a> SETUP</pre>
<div class="block">Creates every field for the module.</div>
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<h4>Verbosity</h4>
<pre>private&nbsp;Verbosity()</pre>
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<h4>values</h4>
<pre class="methodSignature">public static&nbsp;<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (SwerveModule.Verbosity c : SwerveModule.Verbosity.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
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<pre class="methodSignature">public static&nbsp;<a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
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<h2 title="Enum SwerveMotor.ModuleMotorType" class="title">Enum SwerveMotor.ModuleMotorType</h2>
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<li>java.lang.Object</li>
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<dl>
<dt>Enclosing class:</dt>
<dd><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dd>
</dl>
<hr>
<pre>public static enum <span class="typeNameLabel">SwerveMotor.ModuleMotorType</span>
extends java.lang.Enum&lt;<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&gt;</pre>
<div class="block">Motor type for the swerve drive module</div>
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<th class="colFirst" scope="col">Enum Constant</th>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#DRIVE">DRIVE</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#TURNING">TURNING</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
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<td class="colFirst"><code>static <a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
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<div class="block">Returns the enum constant of this type with the specified name.</div>
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<td class="colFirst"><code>static <a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
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<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
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<h4>DRIVE</h4>
<pre>public static final&nbsp;<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> DRIVE</pre>
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<h4>TURNING</h4>
<pre>public static final&nbsp;<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> TURNING</pre>
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<h4>ModuleMotorType</h4>
<pre>private&nbsp;ModuleMotorType()</pre>
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<h4>values</h4>
<pre class="methodSignature">public static&nbsp;<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (SwerveMotor.ModuleMotorType c : SwerveMotor.ModuleMotorType.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
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<h4>valueOf</h4>
<pre class="methodSignature">public static&nbsp;<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
<h2 title="Class SwerveMotor" class="title">Class SwerveMotor</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.SwerveMotor</li>
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<dd><code><a href="motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></code>, <code><a href="motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></code></dd>
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<pre>public abstract class <span class="typeNameLabel">SwerveMotor</span>
extends java.lang.Object</pre>
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<td class="colFirst"><code>static class&nbsp;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></span></code></th>
<td class="colLast">
<div class="block">Motor type for the swerve drive module</div>
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<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kD">kD</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
</td>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kF">kF</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kI">kI</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kIZ">kIZ</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kP">kP</a></span></code></th>
<td class="colLast">
<div class="block">PIDF Values.</div>
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<tr class="rowColor">
<td class="colFirst"><code><a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_motorType">m_motorType</a></span></code></th>
<td class="colLast">
<div class="block">Module motor type.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#target">target</a></span></code></th>
<td class="colLast">
<div class="block">Target value for PID.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveMotor</a></span>()</code></th>
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<td class="colFirst"><code>static &lt;MotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController&gt;<br><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></span>&#8203;(MotorType&nbsp;motor,
<a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
double&nbsp;gearRatio,
double&nbsp;wheelDiameter,
double&nbsp;freeSpeedRPM,
double&nbsp;powerLimit)</code></th>
<td class="colLast">
<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>abstract double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>abstract double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAmps()">getAmps</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current output.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>abstract double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current value of the encoder.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimizeCANFrames()">optimizeCANFrames</a></span>()</code></th>
<td class="colLast">
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>abstract boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>abstract boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#saveConfig()">saveConfig</a></span>()</code></th>
<td class="colLast">
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>&#8203;(double&nbsp;speed)</code></th>
<td class="colLast">
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setConversionFactor(double)">setConversionFactor</a></span>&#8203;(double&nbsp;conversionFactor)</code></th>
<td class="colLast">
<div class="block">Configures the conversion factor based upon which motor.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>&#8203;(int&nbsp;currentLimit)</code></th>
<td class="colLast">
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setEncoder(double)">setEncoder</a></span>&#8203;(double&nbsp;value)</code></th>
<td class="colLast">
<div class="block">Set the encoder value.</div>
</td>
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<tr id="i12" class="altColor">
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<td class="colLast">
<div class="block">Invert the motor.</div>
</td>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double)">setPIDF</a></span>&#8203;(double&nbsp;P,
double&nbsp;I,
double&nbsp;D,
double&nbsp;F,
double&nbsp;integralZone)</code></th>
<td class="colLast">
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
</td>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDOutputRange(double,double)">setPIDOutputRange</a></span>&#8203;(double&nbsp;min,
double&nbsp;max)</code></th>
<td class="colLast">
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
</td>
</tr>
<tr id="i15" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setTarget(double,double)">setTarget</a></span>&#8203;(double&nbsp;target,
double&nbsp;feedforward)</code></th>
<td class="colLast">
<div class="block">Set the target for the PID loop.</div>
</td>
</tr>
<tr id="i16" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>&#8203;(double&nbsp;nominalVoltage)</code></th>
<td class="colLast">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</td>
</tr>
<tr id="i17" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
<td class="colLast">
<div class="block">Stop the motor by sending 0 volts to it.</div>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
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<pre>public&nbsp;<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a> m_motorType</pre>
<div class="block">Module motor type.</div>
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<pre>public&nbsp;double kP</pre>
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<pre>public&nbsp;double kI</pre>
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<pre>public&nbsp;double kD</pre>
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<pre>public&nbsp;double kF</pre>
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<pre>public&nbsp;double kIZ</pre>
<div class="block">PIDF Values.</div>
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<pre>public&nbsp;double target</pre>
<div class="block">Target value for PID.</div>
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<pre>public&nbsp;SwerveMotor()</pre>
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<a id="fromMotor(edu.wpi.first.wpilibj.motorcontrol.MotorController,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
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<pre class="methodSignature">public static&nbsp;&lt;MotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController&gt;&nbsp;<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a>&nbsp;fromMotor&#8203;(MotorType&nbsp;motor,
<a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
double&nbsp;gearRatio,
double&nbsp;wheelDiameter,
double&nbsp;freeSpeedRPM,
double&nbsp;powerLimit)</pre>
<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX. Clears sticky faults and restores factory
defaults.</div>
<dl>
<dt><span class="paramLabel">Type Parameters:</span></dt>
<dd><code>MotorType</code> - Motor type to use.</dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motor</code> - Motor controller.</dd>
<dd><code>absoluteEncoder</code> - The absolute encoder used for the module, if the motor is a turning motor and the encoder is
compatible it will set the encoder as the remote integrated encoder and does not need
periodic synchronization.</dd>
<dd><code>type</code> - Swerve module motor type.</dd>
<dd><code>gearRatio</code> - Gear ratio.</dd>
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
<dd><code>freeSpeedRPM</code> - Free speed RPM of the motor.</dd>
<dd><code>powerLimit</code> - Power limit for the motor.</dd>
</dl>
</li>
</ul>
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<h4>setPIDOutputRange</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setPIDOutputRange&#8203;(double&nbsp;min,
double&nbsp;max)</pre>
<div class="block">Configure the maximum power (-1 to 1) the PID can output. This helps manage voltage pull for the drive base.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>min</code> - Minimum output.</dd>
<dd><code>max</code> - Maximum output.</dd>
</dl>
</li>
</ul>
<a id="setPIDF(double,double,double,double,double)">
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<h4>setPIDF</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setPIDF&#8203;(double&nbsp;P,
double&nbsp;I,
double&nbsp;D,
double&nbsp;F,
double&nbsp;integralZone)</pre>
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>P</code> - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units.
Default is 1.0</dd>
<dd><code>I</code> - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every
PID Loop.</dd>
<dd><code>D</code> - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per PID
loop). Default is 0.1</dd>
<dd><code>F</code> - Feed Fwd gain for Closed loop.</dd>
<dd><code>integralZone</code> - Integral Zone can be used to auto clear the integral accumulator if the sensor pos is too far
from the target. This prevents unstable oscillation if the kI is too large. Value is in sensor
units.</dd>
</dl>
</li>
</ul>
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<h4>setConversionFactor</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setConversionFactor&#8203;(double&nbsp;conversionFactor)</pre>
<div class="block">Configures the conversion factor based upon which motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>conversionFactor</code> - Conversion from RPM to MPS for drive motor, and rotations to degrees for the turning
motor.</dd>
</dl>
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<h4>setTarget</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setTarget&#8203;(double&nbsp;target,
double&nbsp;feedforward)</pre>
<div class="block">Set the target for the PID loop.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>target</code> - The PID target to aim for.</dd>
<dd><code>feedforward</code> - The feedforward for this target.</dd>
</dl>
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<h4>stop</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;stop()</pre>
<div class="block">Stop the motor by sending 0 volts to it.</div>
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<h4>set</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;set&#8203;(double&nbsp;speed)</pre>
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>speed</code> - Speed from -1 to 1.</dd>
</dl>
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<h4>get</h4>
<pre class="methodSignature">public abstract&nbsp;double&nbsp;get()</pre>
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Current value of the encoder either in velocity or position..</dd>
</dl>
</li>
</ul>
<a id="getAmps()">
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<ul class="blockList">
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<h4>getAmps</h4>
<pre class="methodSignature">public abstract&nbsp;double&nbsp;getAmps()</pre>
<div class="block">Get the current output.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Output amps.</dd>
</dl>
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<h4>getPosition</h4>
<pre class="methodSignature">public abstract&nbsp;double&nbsp;getPosition()</pre>
<div class="block">Get the current value of the encoder.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Current value of the encoder.</dd>
</dl>
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<h4>setVoltageCompensation</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setVoltageCompensation&#8203;(double&nbsp;nominalVoltage)</pre>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
</dl>
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<h4>setCurrentLimit</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setCurrentLimit&#8203;(int&nbsp;currentLimit)</pre>
<div class="block">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.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
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<h4>setEncoder</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setEncoder&#8203;(double&nbsp;value)</pre>
<div class="block">Set the encoder value.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>value</code> - Value to set the encoder to.</dd>
</dl>
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<h4>reachable</h4>
<pre class="methodSignature">public abstract&nbsp;boolean&nbsp;reachable()</pre>
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true on all devices are accessible over CAN.</dd>
</dl>
</li>
</ul>
<a id="remoteIntegratedEncoder()">
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<ul class="blockList">
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<h4>remoteIntegratedEncoder</h4>
<pre class="methodSignature">public abstract&nbsp;boolean&nbsp;remoteIntegratedEncoder()</pre>
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true, if the absolute encoder is being used as the integrated controller.</dd>
</dl>
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<a id="optimizeCANFrames()">
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<ul class="blockList">
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<h4>optimizeCANFrames</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;optimizeCANFrames()</pre>
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
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<ul class="blockList">
<li class="blockList">
<h4>saveConfig</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;saveConfig()</pre>
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
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<h4>setInverted</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;inverted)</pre>
<div class="block">Invert the motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>inverted</code> - Set the motor as inverted.</dd>
</dl>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
<h2 title="Class SwerveParser" class="title">Class SwerveParser</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
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<li>frc.robot.subsystems.swervedrive.swerve.SwerveParser</li>
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<pre>public class <span class="typeNameLabel">SwerveParser</span>
extends java.lang.Object</pre>
<div class="block">Swerve Drive JSON parser.</div>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveParser</a></span>()</code></th>
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<td class="colFirst"><code>private static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkDirectory(java.io.File)">checkDirectory</a></span>&#8203;(java.io.File&nbsp;directory)</code></th>
<td class="colLast">
<div class="block">Check directory structure.</div>
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<td class="colFirst"><code>private static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkMain(com.fasterxml.jackson.databind.JsonNode)">checkMain</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson)</code></th>
<td class="colLast">
<div class="block">Check the main json for correct attributes.</div>
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<td class="colFirst"><code>private static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkModule(com.fasterxml.jackson.databind.JsonNode)">checkModule</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;moduleJson)</code></th>
<td class="colLast">
<div class="block">Check module JSON config for existing values.</div>
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<tr id="i3" class="rowColor">
<td class="colFirst"><code>private static java.lang.Object</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createEncoder(com.fasterxml.jackson.databind.JsonNode)">createEncoder</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;encoderConfig)</code></th>
<td class="colLast">
<div class="block">Create SwerveEncoder from JSON config.</div>
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<tr id="i4" class="altColor">
<td class="colFirst"><code>private static com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createGyro(com.fasterxml.jackson.databind.JsonNode)">createGyro</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;gyroConfig)</code></th>
<td class="colLast">
<div class="block">Create the gyro object based off the configuration.</div>
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<tr id="i5" class="rowColor">
<td class="colFirst"><code>private static <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">createModule</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson,
java.io.File&nbsp;moduleFile,
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;moduleLocation)</code></th>
<td class="colLast">
<div class="block">Create SwerveModule from JSON configuration file.</div>
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<td class="colFirst"><code>private static edu.wpi.first.wpilibj.motorcontrol.MotorController</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createMotor(com.fasterxml.jackson.databind.JsonNode)">createMotor</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;motorConfig)</code></th>
<td class="colLast">
<div class="block">Create the motor controller based off the config.</div>
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<tr id="i7" class="rowColor">
<td class="colFirst"><code>static <a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromJSONDirectory(java.io.File)">fromJSONDirectory</a></span>&#8203;(java.io.File&nbsp;directory)</code></th>
<td class="colLast">
<div class="block">Create SwerveDrive from JSON configuration directory.</div>
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<td class="colFirst"><code>private static com.fasterxml.jackson.databind.JsonNode</code></td>
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<div class="block">Open JSON file.</div>
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<td class="colFirst"><code>private static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)">setModulePIDF</a></span>&#8203;(<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a>&nbsp;motor,
com.fasterxml.jackson.databind.JsonNode&nbsp;jsonPIDF)</code></th>
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<div class="block">Set the PIDF for the module if the given JSON has the paramters.</div>
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<pre>public&nbsp;SwerveParser()</pre>
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<pre class="methodSignature">private static&nbsp;com.fasterxml.jackson.databind.JsonNode&nbsp;openJson&#8203;(java.io.File&nbsp;file)</pre>
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<dd><code>file</code> - JSON File to open.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
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<pre class="methodSignature">private static&nbsp;void&nbsp;checkDirectory&#8203;(java.io.File&nbsp;directory)</pre>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<pre class="methodSignature">private static&nbsp;edu.wpi.first.wpilibj.motorcontrol.MotorController&nbsp;createMotor&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;motorConfig)</pre>
<div class="block">Create the motor controller based off the config.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
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<dt><span class="returnLabel">Returns:</span></dt>
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<pre class="methodSignature">private static&nbsp;java.lang.Object&nbsp;createEncoder&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;encoderConfig)</pre>
<div class="block">Create SwerveEncoder from JSON config.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>encoderConfig</code> - Swerve Encoder JSON config.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
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<pre class="methodSignature">private static&nbsp;com.ctre.phoenix.sensors.WPI_Pigeon2&nbsp;createGyro&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;gyroConfig)</pre>
<div class="block">Create the gyro object based off the configuration.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>gyroConfig</code> - Gyro configuration.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Gyro object.</dd>
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<pre class="methodSignature">private static&nbsp;void&nbsp;checkModule&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;moduleJson)</pre>
<div class="block">Check module JSON config for existing values.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moduleJson</code> - Module JSON object.</dd>
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<pre class="methodSignature">private static&nbsp;void&nbsp;checkMain&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson)</pre>
<div class="block">Check the main json for correct attributes.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>mainJson</code> - Main JSON.</dd>
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<a id="createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
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<h4>createModule</h4>
<pre class="methodSignature">private static&nbsp;<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;&nbsp;createModule&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson,
java.io.File&nbsp;moduleFile,
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;moduleLocation)</pre>
<div class="block">Create SwerveModule from JSON configuration file.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>mainJson</code> - Main JSON to pull from.</dd>
<dd><code>moduleFile</code> - Module specific JSON data to pull from.</dd>
<dd><code>moduleLocation</code> - Swerve module location that is being created.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>SwerveModule</dd>
</dl>
</li>
</ul>
<a id="setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)">
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<h4>setModulePIDF</h4>
<pre class="methodSignature">private static&nbsp;void&nbsp;setModulePIDF&#8203;(<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a>&nbsp;motor,
com.fasterxml.jackson.databind.JsonNode&nbsp;jsonPIDF)</pre>
<div class="block">Set the PIDF for the module if the given JSON has the paramters.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motor</code> - Motor to configure.</dd>
<dd><code>jsonPIDF</code> - JSON ndoe with values.</dd>
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<h4>fromJSONDirectory</h4>
<pre class="methodSignature">public static&nbsp;<a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a>&nbsp;fromJSONDirectory&#8203;(java.io.File&nbsp;directory)</pre>
<div class="block">Create SwerveDrive from JSON configuration directory.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>directory</code> - JSON Configuration directory.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>SwerveDrive</dd>
</dl>
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<div class="description">
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<pre>public class <span class="typeNameLabel">CTRECANCoder</span>
extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.ctre.phoenix.sensors.CANCoder&gt;</pre>
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<h3>Fields inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
<code><a href="../SwerveEncoder.html#m_encoder">m_encoder</a></code></li>
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<h3>Constructor Summary</h3>
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<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.ctre.phoenix.sensors.CANCoder)">CTRECANCoder</a></span>&#8203;(com.ctre.phoenix.sensors.CANCoder&nbsp;encoder)</code></th>
<td class="colLast">
<div class="block">Create SwerveEncoder based off CANCoder.</div>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
<td class="colLast">
<div class="block">Configure the absolute encoder if possible.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset encoder to factory default settings, if possible.</div>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the absolute position in degrees.</div>
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<tr id="i3" class="rowColor">
<td class="colFirst"><code>com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the magnetic field strength, if available.</div>
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<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
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<tr id="i5" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Is the encoder reachable?</div>
</td>
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<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;isInverted)</code></th>
<td class="colLast">
<div class="block">Configure the sensor direction</div>
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</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>&#8203;(double&nbsp;offset)</code></th>
<td class="colLast">
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
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<h3>Methods inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
<code><a href="../SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></code></li>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
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<h4>CTRECANCoder</h4>
<pre>public&nbsp;CTRECANCoder&#8203;(com.ctre.phoenix.sensors.CANCoder&nbsp;encoder)</pre>
<div class="block">Create SwerveEncoder based off CANCoder.</div>
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<h4>configure</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configure()</pre>
<div class="block">Configure the absolute encoder if possible.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#configure()">configure</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.ctre.phoenix.sensors.CANCoder&gt;</code></dd>
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<h4>getMagnetFieldStrength</h4>
<pre class="methodSignature">public&nbsp;com.ctre.phoenix.sensors.MagnetFieldStrength&nbsp;getMagnetFieldStrength()</pre>
<div class="block">Get the magnetic field strength, if available.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.ctre.phoenix.sensors.CANCoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>CTRE MagneticFieldStrength Enum.</dd>
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<h4>getAbsolutePosition</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getAbsolutePosition()</pre>
<div class="block">Get the absolute position in degrees.</div>
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<dd><code><a href="../SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.ctre.phoenix.sensors.CANCoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
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<h4>getVelocity</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getVelocity()</pre>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getVelocity()">getVelocity</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.ctre.phoenix.sensors.CANCoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Velocity in degrees per second.</dd>
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<h4>setOffset</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setOffset&#8203;(double&nbsp;offset)</pre>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setOffset(double)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.ctre.phoenix.sensors.CANCoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>offset</code> - Offset in degrees.</dd>
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<h4>reachable</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;reachable()</pre>
<div class="block">Is the encoder reachable?</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#reachable()">reachable</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.ctre.phoenix.sensors.CANCoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
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<h4>setInverted</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;isInverted)</pre>
<div class="block">Configure the sensor direction</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.ctre.phoenix.sensors.CANCoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isInverted</code> - Inverted or not.</dd>
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<h4>factoryDefault</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;factoryDefault()</pre>
<div class="block">Reset encoder to factory default settings, if possible.</div>
<dl>
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<dd><code><a href="../SwerveEncoder.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.ctre.phoenix.sensors.CANCoder&gt;</code></dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></div>
<h2 title="Class PWMAnalogEncoder" class="title">Class PWMAnalogEncoder</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</li>
<li>
<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder</li>
</ul>
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<pre>public class <span class="typeNameLabel">PWMAnalogEncoder</span>
extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</pre>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
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<td class="colFirst"><code>private boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverted">m_inverted</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastAngle">m_lastAngle</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastTime">m_lastTime</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private edu.wpi.first.wpilibj.Timer</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_timer">m_timer</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_velocity">m_velocity</a></span></code></th>
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<code><a href="../SwerveEncoder.html#m_encoder">m_encoder</a></code></li>
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</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.AnalogEncoder)">PWMAnalogEncoder</a></span>&#8203;(edu.wpi.first.wpilibj.AnalogEncoder&nbsp;encoder)</code></th>
<td class="colLast">
<div class="block">Constructor for analog encoder Swerve Encoder.</div>
</td>
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<h3>Method Summary</h3>
<table class="memberSummary">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
<td class="colLast">
<div class="block">Configure the absolute encoder if possible.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset encoder to factory default settings, if possible.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the absolute position in degrees.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the magnetic field strength, if available.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Is the encoder reachable?</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;isInverted)</code></th>
<td class="colLast">
<div class="block">Configure the sensor direction</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>&#8203;(double&nbsp;offset)</code></th>
<td class="colLast">
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#updateVelocity()">updateVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Updates the velocity every second.</div>
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<h3>Methods inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
<code><a href="../SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></code></li>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h4>m_timer</h4>
<pre>private final&nbsp;edu.wpi.first.wpilibj.Timer m_timer</pre>
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<h4>m_inverted</h4>
<pre>private&nbsp;boolean m_inverted</pre>
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<h4>m_lastAngle</h4>
<pre>private&nbsp;double m_lastAngle</pre>
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<h4>m_velocity</h4>
<pre>private&nbsp;double m_velocity</pre>
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<h4>m_lastTime</h4>
<pre>private&nbsp;double m_lastTime</pre>
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<h3>Constructor Detail</h3>
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<h4>PWMAnalogEncoder</h4>
<pre>public&nbsp;PWMAnalogEncoder&#8203;(edu.wpi.first.wpilibj.AnalogEncoder&nbsp;encoder)</pre>
<div class="block">Constructor for analog encoder Swerve Encoder.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>encoder</code> - AnalogEncoder.</dd>
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<a id="updateVelocity()">
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<h4>updateVelocity</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;updateVelocity()</pre>
<div class="block">Updates the velocity every second.</div>
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<h4>configure</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configure()</pre>
<div class="block">Configure the absolute encoder if possible.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#configure()">configure</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
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<h4>factoryDefault</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;factoryDefault()</pre>
<div class="block">Reset encoder to factory default settings, if possible.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
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<a id="getMagnetFieldStrength()">
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<h4>getMagnetFieldStrength</h4>
<pre class="methodSignature">public&nbsp;com.ctre.phoenix.sensors.MagnetFieldStrength&nbsp;getMagnetFieldStrength()</pre>
<div class="block">Get the magnetic field strength, if available.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>CTRE MagneticFieldStrength Enum.</dd>
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<h4>getAbsolutePosition</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getAbsolutePosition()</pre>
<div class="block">Get the absolute position in degrees.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Absolute position (0, 360]</dd>
</dl>
</li>
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<a id="getVelocity()">
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</a>
<ul class="blockList">
<li class="blockList">
<h4>getVelocity</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getVelocity()</pre>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getVelocity()">getVelocity</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Velocity in degrees per second.</dd>
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<a id="setOffset(double)">
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<h4>setOffset</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setOffset&#8203;(double&nbsp;offset)</pre>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setOffset(double)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>offset</code> - Offset in degrees.</dd>
</dl>
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<ul class="blockList">
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<h4>reachable</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;reachable()</pre>
<div class="block">Is the encoder reachable?</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#reachable()">reachable</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if reachable, false otherwise.</dd>
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<h4>setInverted</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;isInverted)</pre>
<div class="block">Configure the sensor direction</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.AnalogEncoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isInverted</code> - Inverted or not.</dd>
</dl>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></div>
<h2 title="Class PWMDutyCycleEncoder" class="title">Class PWMDutyCycleEncoder</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</li>
<li>
<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder</li>
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<pre>public class <span class="typeNameLabel">PWMDutyCycleEncoder</span>
extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</pre>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<td class="colFirst"><code>private boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverted">m_inverted</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastAngle">m_lastAngle</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_lastTime">m_lastTime</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private edu.wpi.first.wpilibj.Timer</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_timer">m_timer</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_velocity">m_velocity</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<code><a href="../SwerveEncoder.html#m_encoder">m_encoder</a></code></li>
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<h3>Constructor Summary</h3>
<table class="memberSummary">
<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj.DutyCycleEncoder)">PWMDutyCycleEncoder</a></span>&#8203;(edu.wpi.first.wpilibj.DutyCycleEncoder&nbsp;encoder)</code></th>
<td class="colLast">
<div class="block">Construct PWM DutyCycleEncoder class.</div>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
<td class="colLast">
<div class="block">Configure the absolute encoder if possible.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset encoder to factory default settings, if possible.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the absolute position in degrees.</div>
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<td class="colFirst"><code>com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the magnetic field strength, if available.</div>
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</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
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<tr id="i5" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Is the encoder reachable?</div>
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<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;isInverted)</code></th>
<td class="colLast">
<div class="block">Configure the sensor direction</div>
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<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>&#8203;(double&nbsp;offset)</code></th>
<td class="colLast">
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
</td>
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<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#updateVelocity()">updateVelocity</a></span>()</code></th>
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<div class="block">Updates the velocity every second.</div>
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<h3>Methods inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
<code><a href="../SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></code></li>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
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<pre>public&nbsp;PWMDutyCycleEncoder&#8203;(edu.wpi.first.wpilibj.DutyCycleEncoder&nbsp;encoder)</pre>
<div class="block">Construct PWM DutyCycleEncoder class.</div>
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<dd><code>encoder</code> - Encoder class.</dd>
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<h4>updateVelocity</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;updateVelocity()</pre>
<div class="block">Updates the velocity every second.</div>
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<h4>configure</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configure()</pre>
<div class="block">Configure the absolute encoder if possible.</div>
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<dd><code><a href="../SwerveEncoder.html#configure()">configure</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</code></dd>
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<div class="block">Reset encoder to factory default settings, if possible.</div>
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<dd><code><a href="../SwerveEncoder.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</code></dd>
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<h4>getMagnetFieldStrength</h4>
<pre class="methodSignature">public&nbsp;com.ctre.phoenix.sensors.MagnetFieldStrength&nbsp;getMagnetFieldStrength()</pre>
<div class="block">Get the magnetic field strength, if available.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</code></dd>
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<pre class="methodSignature">public&nbsp;double&nbsp;getAbsolutePosition()</pre>
<div class="block">Get the absolute position in degrees.</div>
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<dd><code><a href="../SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
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<h4>getVelocity</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getVelocity()</pre>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getVelocity()">getVelocity</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
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<h4>setOffset</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setOffset&#8203;(double&nbsp;offset)</pre>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
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<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setOffset(double)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
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<h4>reachable</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;reachable()</pre>
<div class="block">Is the encoder reachable?</div>
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<dd><code><a href="../SwerveEncoder.html#reachable()">reachable</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
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<pre class="methodSignature">public&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;isInverted)</pre>
<div class="block">Configure the sensor direction</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;edu.wpi.first.wpilibj.DutyCycleEncoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isInverted</code> - Inverted or not.</dd>
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<h2 title="Class REVAbsoluteEncoder" class="title">Class REVAbsoluteEncoder</h2>
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<li>java.lang.Object</li>
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<ul class="inheritance">
<li><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</li>
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<pre>public class <span class="typeNameLabel">REVAbsoluteEncoder</span>
extends <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</pre>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.revrobotics.AbsoluteEncoder)">REVAbsoluteEncoder</a></span>&#8203;(com.revrobotics.AbsoluteEncoder&nbsp;encoder)</code></th>
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<div class="block">Constructor for AbsoluteEncoder class.</div>
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<h3>Method Summary</h3>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure()">configure</a></span>()</code></th>
<td class="colLast">
<div class="block">Configure the absolute encoder if possible.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset encoder to factory default settings, if possible.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the absolute position in degrees.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>com.ctre.phoenix.sensors.MagnetFieldStrength</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMagnetFieldStrength()">getMagnetFieldStrength</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the magnetic field strength, if available.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Is the encoder reachable?</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;isInverted)</code></th>
<td class="colLast">
<div class="block">Configure the sensor direction.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setOffset(double)">setOffset</a></span>&#8203;(double&nbsp;offset)</code></th>
<td class="colLast">
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
</td>
</tr>
</table>
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<h3>Methods inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></h3>
<code><a href="../SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder</a></code></li>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
</ul>
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<h3>Constructor Detail</h3>
<a id="&lt;init&gt;(com.revrobotics.AbsoluteEncoder)">
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<h4>REVAbsoluteEncoder</h4>
<pre>public&nbsp;REVAbsoluteEncoder&#8203;(com.revrobotics.AbsoluteEncoder&nbsp;encoder)</pre>
<div class="block">Constructor for AbsoluteEncoder class.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>encoder</code> - Encoder to wrap around.</dd>
</dl>
</li>
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<h3>Method Detail</h3>
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<h4>configure</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configure()</pre>
<div class="block">Configure the absolute encoder if possible.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#configure()">configure</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</code></dd>
</dl>
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<h4>factoryDefault</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;factoryDefault()</pre>
<div class="block">Reset encoder to factory default settings, if possible.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</code></dd>
</dl>
</li>
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<a id="getMagnetFieldStrength()">
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<h4>getMagnetFieldStrength</h4>
<pre class="methodSignature">public&nbsp;com.ctre.phoenix.sensors.MagnetFieldStrength&nbsp;getMagnetFieldStrength()</pre>
<div class="block">Get the magnetic field strength, if available.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>CTRE MagneticFieldStrength Enum.</dd>
</dl>
</li>
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<a id="getAbsolutePosition()">
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<h4>getAbsolutePosition</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getAbsolutePosition()</pre>
<div class="block">Get the absolute position in degrees.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Absolute position (0, 360]</dd>
</dl>
</li>
</ul>
<a id="getVelocity()">
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<h4>getVelocity</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getVelocity()</pre>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#getVelocity()">getVelocity</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Velocity in degrees per second.</dd>
</dl>
</li>
</ul>
<a id="setOffset(double)">
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<ul class="blockList">
<li class="blockList">
<h4>setOffset</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setOffset&#8203;(double&nbsp;offset)</pre>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setOffset(double)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>offset</code> - Offset in degrees.</dd>
</dl>
</li>
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<h4>reachable</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;reachable()</pre>
<div class="block">Is the encoder reachable?</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#reachable()">reachable</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>True if reachable, false otherwise.</dd>
</dl>
</li>
</ul>
<a id="setInverted(boolean)">
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<ul class="blockListLast">
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<h4>setInverted</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;isInverted)</pre>
<div class="block">Configure the sensor direction.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveEncoder.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;com.revrobotics.AbsoluteEncoder&gt;</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isInverted</code> - Inverted or not.</dd>
</dl>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></div>
<h2 title="Class SwerveDriveKinematics2" class="title">Class SwerveDriveKinematics2</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.math.kinematics.SwerveDriveKinematics</li>
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<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveDriveKinematics2</li>
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<pre>public class <span class="typeNameLabel">SwerveDriveKinematics2</span>
extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed.
<p>Taken from https://github.com/FRC2539/javabot-2023/tree/main/src/main/java/frc/lib/swerve</p>
<p>https://github.com/first95/FRC2022/tree/feature/secondOrderKinematics/SwervyBot/src/main/java/frc/lib</p>
Makes use of <a href="SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics"><code>SwerveDriveKinematics2</code></a> to add the angular velocity that is required of the module as an output.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#bigInverseKinematics">bigInverseKinematics</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_forwardKinematics">m_forwardKinematics</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverseKinematics">m_inverseKinematics</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_modules">m_modules</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleStates">m_moduleStates</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_numModules">m_numModules</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_prevCoR">m_prevCoR</a></span></code></th>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)">SwerveDriveKinematics2</a></span>&#8203;(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</code></th>
<td class="colLast">
<div class="block">Constructs a swerve drive kinematics object.</div>
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<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<tr id="i0" class="altColor">
<td class="colFirst"><code>static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds</a></span>&#8203;(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;moduleStates,
double&nbsp;attainableMaxSpeedMetersPerSecond)</code></th>
<td class="colLast">
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds</a></span>&#8203;(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;moduleStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;currentChassisSpeed,
double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</code></th>
<td class="colLast">
<div class="block">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.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toChassisSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2...)">toChassisSpeeds</a></span>&#8203;(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>...&nbsp;wheelStates)</code></th>
<td class="colLast">
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">toSwerveModuleStates</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></th>
<td class="colLast">
<div class="block">Performs inverse kinematics.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">toSwerveModuleStates</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</code></th>
<td class="colLast">
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>edu.wpi.first.math.geometry.Twist2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">toTwist2d</a></span>&#8203;(edu.wpi.first.math.kinematics.SwerveModulePosition...&nbsp;wheelDeltas)</code></th>
<td class="colLast">
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</td>
</tr>
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<h3>Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></li>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<a id="m_inverseKinematics">
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<h4>m_inverseKinematics</h4>
<pre>private final&nbsp;org.ejml.simple.SimpleMatrix m_inverseKinematics</pre>
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<h4>m_forwardKinematics</h4>
<pre>private final&nbsp;org.ejml.simple.SimpleMatrix m_forwardKinematics</pre>
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<h4>bigInverseKinematics</h4>
<pre>private final&nbsp;org.ejml.simple.SimpleMatrix bigInverseKinematics</pre>
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<h4>m_numModules</h4>
<pre>private final&nbsp;int m_numModules</pre>
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<h4>m_modules</h4>
<pre>private final&nbsp;edu.wpi.first.math.geometry.Translation2d[] m_modules</pre>
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<h4>m_moduleStates</h4>
<pre>private final&nbsp;<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] m_moduleStates</pre>
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<pre>private&nbsp;edu.wpi.first.math.geometry.Translation2d m_prevCoR</pre>
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<h4>SwerveDriveKinematics2</h4>
<pre>public&nbsp;SwerveDriveKinematics2&#8203;(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</pre>
<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as
<code>Translation2d</code>s. The order in which you pass in the wheel locations is the same order that you will receive
the module states when performing inverse kinematics. It is also expected that you pass in the module states in the
same order when calling the forward kinematics methods.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>wheelsMeters</code> - The locations of the wheels relative to the physical center of the robot.</dd>
</dl>
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</ul>
</li>
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<a id="desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2[],double)">
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<h4>desaturateWheelSpeeds</h4>
<pre class="methodSignature">public static&nbsp;void&nbsp;desaturateWheelSpeeds&#8203;(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;moduleStates,
double&nbsp;attainableMaxSpeedMetersPerSecond)</pre>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
maintaining the ratio of speeds between modules.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moduleStates</code> - Reference to array of module states. The array will be mutated with the
normalized speeds!</dd>
<dd><code>attainableMaxSpeedMetersPerSecond</code> - The absolute max speed that a module can reach.</dd>
</dl>
</li>
</ul>
<a id="desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
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<h4>desaturateWheelSpeeds</h4>
<pre class="methodSignature">public static&nbsp;void&nbsp;desaturateWheelSpeeds&#8203;(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;moduleStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;currentChassisSpeed,
double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</pre>
<div class="block">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.
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
maintaining the ratio of speeds between modules.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moduleStates</code> - Reference to array of module states. The array will be
mutated with the normalized speeds!</dd>
<dd><code>currentChassisSpeed</code> - The current speed of the robot</dd>
<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach</dd>
<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot can reach while
translating</dd>
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating</dd>
</dl>
</li>
</ul>
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
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<h4>toSwerveModuleStates</h4>
<pre class="methodSignature">public&nbsp;<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;toSwerveModuleStates&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</pre>
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used
to convert joystick values into module speeds and angles.
<p>This function also supports variable centers of rotation. During normal operations, the
center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to
that use case. However, if you wish to change the center of rotation for evasive maneuvers, vision alignment, or
for any other use case, you can do so.
<p>In the case that the desired chassis speeds are zero (i.e. the robot will be stationary),
the previously calculated module angle will be maintained.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code>toSwerveModuleStates</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one corner
of the robot and provide a chassis speed that only has a dtheta component, the robot
will rotate around that corner.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>An array containing the module states. Use caution because these module states are not normalized.
Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the
<a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,double)"><code>DesaturateWheelSpeeds</code></a> function to rectify this issue.</dd>
</dl>
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<h4>toSwerveModuleStates</h4>
<pre class="methodSignature">public&nbsp;<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]&nbsp;toSwerveModuleStates&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</pre>
<div class="block">Performs inverse kinematics. See <a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"><code>toSwerveModuleStates(ChassisSpeeds, Translation2d)</code></a> toSwerveModuleStates
for more information.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code>toSwerveModuleStates</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>An array containing the module states.</dd>
</dl>
</li>
</ul>
<a id="toChassisSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2...)">
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<h4>toChassisSpeeds</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;toChassisSpeeds&#8203;(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>...&nbsp;wheelStates)</pre>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
angle of each module on the robot.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>wheelStates</code> - The state of the modules (as a SwerveModuleState type) as measured from respective encoders and
gyros. The order of the swerve module states should be same as passed into the constructor of
this class.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The resulting chassis speed.</dd>
</dl>
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</ul>
<a id="toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">
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<h4>toTwist2d</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.geometry.Twist2d&nbsp;toTwist2d&#8203;(edu.wpi.first.math.kinematics.SwerveModulePosition...&nbsp;wheelDeltas)</pre>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
angle of each module on the robot.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code>toTwist2d</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>wheelDeltas</code> - The latest change in position of the modules (as a SwerveModulePosition type) as measured from
respective encoders and gyros. The order of the swerve module states should be same as passed
into the constructor of this class.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The resulting Twist2d.</dd>
</dl>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></div>
<h2 title="Class SwerveModuleState2" class="title">Class SwerveModuleState2</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
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<ul class="inheritance">
<li>edu.wpi.first.math.kinematics.SwerveModuleState</li>
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<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2</li>
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<pre>public class <span class="typeNameLabel">SwerveModuleState2</span>
extends edu.wpi.first.math.kinematics.SwerveModuleState</pre>
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<th class="colSecond" scope="col">Field</th>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angularVelocityRadPerSecond">angularVelocityRadPerSecond</a></span></code></th>
<td class="colLast">
<div class="block">Angular velocity in radians per second.</div>
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<h3>Fields inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveModuleState</h3>
<code>angle, speedMetersPerSecond</code></li>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveModuleState2</a></span>()</code></th>
<td class="colLast">
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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</tr>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d)">SwerveModuleState2</a></span>&#8203;(double&nbsp;speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d&nbsp;angle)</code></th>
<td class="colLast">
<div class="block">Constructs a SwerveModuleState.</div>
</td>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)">SwerveModuleState2</a></span>&#8203;(double&nbsp;speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;angularVelocityRadPerSecond)</code></th>
<td class="colLast">
<div class="block">Constructs a SwerveModuleState.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState)">SwerveModuleState2</a></span>&#8203;(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;self)</code></th>
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<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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<td class="colFirst"><code>static <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)">optimize</a></span>&#8203;(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle)</code></th>
<td class="colLast">
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>static double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#placeInAppropriate0To360Scope(double,double)">placeInAppropriate0To360Scope</a></span>&#8203;(double&nbsp;scopeReference,
double&nbsp;newAngle)</code></th>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
<code>clone, finalize, getClass, notify, notifyAll, wait, wait, wait</code></li>
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<h4>angularVelocityRadPerSecond</h4>
<pre>public&nbsp;double angularVelocityRadPerSecond</pre>
<div class="block">Angular velocity in radians per second. Angular Velocity = omega.</div>
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<h4>SwerveModuleState2</h4>
<pre>public&nbsp;SwerveModuleState2()</pre>
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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<h4>SwerveModuleState2</h4>
<pre>public&nbsp;SwerveModuleState2&#8203;(edu.wpi.first.math.kinematics.SwerveModuleState&nbsp;self)</pre>
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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<h4>SwerveModuleState2</h4>
<pre>public&nbsp;SwerveModuleState2&#8203;(double&nbsp;speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d&nbsp;angle)</pre>
<div class="block">Constructs a SwerveModuleState.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
<dd><code>angle</code> - The angle of the module.</dd>
</dl>
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<h4>SwerveModuleState2</h4>
<pre>public&nbsp;SwerveModuleState2&#8203;(double&nbsp;speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;angularVelocityRadPerSecond)</pre>
<div class="block">Constructs a SwerveModuleState.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
<dd><code>angle</code> - The angle of the module.</dd>
<dd><code>angularVelocityRadPerSecond</code> - The angular velocity of the module.</dd>
</dl>
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<a id="optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)">
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<h4>optimize</h4>
<pre class="methodSignature">public static&nbsp;<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>&nbsp;optimize&#8203;(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle)</pre>
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins. Customized from WPILib's version to include placing in appropriate scope for CTRE and REV onboard
control as both controllers as of writing don't have support for continuous input.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>desiredState</code> - The desired state.</dd>
<dd><code>currentAngle</code> - The current module angle.</dd>
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<h4>placeInAppropriate0To360Scope</h4>
<pre class="methodSignature">public static&nbsp;double&nbsp;placeInAppropriate0To360Scope&#8203;(double&nbsp;scopeReference,
double&nbsp;newAngle)</pre>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>scopeReference</code> - Current Angle</dd>
<dd><code>newAngle</code> - Target Angle</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Closest angle within scope</dd>
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<h2 title="Enum CTRESwerveMotor.CTRE_pidIdx" class="title">Enum CTRESwerveMotor.CTRE_pidIdx</h2>
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<li>java.lang.Object</li>
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<li>java.lang.Enum&lt;<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>&gt;</li>
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<hr>
<pre>static enum <span class="typeNameLabel">CTRESwerveMotor.CTRE_pidIdx</span>
extends java.lang.Enum&lt;<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>&gt;</pre>
<div class="block">The TalonSRX PID to use onboard.</div>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#AUXILIARY_PID">AUXILIARY_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#FOURTH_PID">FOURTH_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#PRIMARY_PID">PRIMARY_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#THIRD_PID">THIRD_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_pidIdx</a></span>()</code></th>
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<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
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<div class="block">Returns the enum constant of this type with the specified name.</div>
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<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
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<div class="block">Returns an array containing the constants of this enum type, in
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> PRIMARY_PID</pre>
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> AUXILIARY_PID</pre>
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> THIRD_PID</pre>
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a> FOURTH_PID</pre>
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<h4>CTRE_pidIdx</h4>
<pre>private&nbsp;CTRE_pidIdx()</pre>
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<h4>values</h4>
<pre class="methodSignature">public static&nbsp;<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (CTRESwerveMotor.CTRE_pidIdx c : CTRESwerveMotor.CTRE_pidIdx.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
</dl>
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<h4>valueOf</h4>
<pre class="methodSignature">public static&nbsp;<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
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<h2 title="Enum CTRESwerveMotor.CTRE_remoteSensor" class="title">Enum CTRESwerveMotor.CTRE_remoteSensor</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>java.lang.Enum&lt;<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>&gt;</li>
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<li>frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_remoteSensor</li>
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<dt>All Implemented Interfaces:</dt>
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<dl>
<dt>Enclosing class:</dt>
<dd><a href="CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dd>
</dl>
<hr>
<pre>static enum <span class="typeNameLabel">CTRESwerveMotor.CTRE_remoteSensor</span>
extends java.lang.Enum&lt;<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>&gt;</pre>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_0">REMOTE_SENSOR_0</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_1">REMOTE_SENSOR_1</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_remoteSensor</a></span>()</code></th>
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<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></code></td>
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<td class="colLast">
<div class="block">Returns the enum constant of this type with the specified name.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
<td class="colLast">
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a> REMOTE_SENSOR_0</pre>
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a> REMOTE_SENSOR_1</pre>
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<pre>private&nbsp;CTRE_remoteSensor()</pre>
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<pre class="methodSignature">public static&nbsp;<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (CTRESwerveMotor.CTRE_remoteSensor c : CTRESwerveMotor.CTRE_remoteSensor.values())
&nbsp; System.out.println(c);
</pre></div>
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<dd>an array containing the constants of this enum type, in the order they are declared</dd>
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<pre class="methodSignature">public static&nbsp;<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
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<h2 title="Enum CTRESwerveMotor.CTRE_slotIdx" class="title">Enum CTRESwerveMotor.CTRE_slotIdx</h2>
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<li>java.lang.Object</li>
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<li>java.lang.Enum&lt;<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>&gt;</li>
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<dt>Enclosing class:</dt>
<dd><a href="CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dd>
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<hr>
<pre>static enum <span class="typeNameLabel">CTRESwerveMotor.CTRE_slotIdx</span>
extends java.lang.Enum&lt;<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>&gt;</pre>
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#Velocity">Velocity</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_slotIdx</a></span>()</code></th>
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<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
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<div class="block">Returns the enum constant of this type with the specified name.</div>
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<td class="colFirst"><code>static <a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>[]</code></td>
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> Distance</pre>
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> Turning</pre>
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> Velocity</pre>
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<pre>public static final&nbsp;<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a> MotionProfile</pre>
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<pre>private&nbsp;CTRE_slotIdx()</pre>
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<pre class="methodSignature">public static&nbsp;<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (CTRESwerveMotor.CTRE_slotIdx c : CTRESwerveMotor.CTRE_slotIdx.values())
&nbsp; System.out.println(c);
</pre></div>
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<pre class="methodSignature">public static&nbsp;<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
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not permitted.)</div>
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<li>java.lang.Object</li>
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<li><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveMotor</a></li>
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<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor</li>
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<pre>public class <span class="typeNameLabel">CTRESwerveMotor</span>
extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></pre>
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<h3>Nested Class Summary</h3>
<table class="memberSummary">
<caption><span>Nested Classes</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Class</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>(package private) static class&nbsp;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></span></code></th>
<td class="colLast">
<div class="block">The TalonSRX PID to use onboard.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>(package private) static class&nbsp;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>(package private) static class&nbsp;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></span></code></th>
<td class="colLast">
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
</td>
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<h3>Nested classes/interfaces inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
<code><a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></li>
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<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_allowableClosedLoopError">m_allowableClosedLoopError</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private <a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_angleEncoder">m_angleEncoder</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private com.ctre.phoenix.motorcontrol.ControlMode</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_controlMode">m_controlMode</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private java.util.function.Supplier&lt;java.lang.Double&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoderRet">m_encoderRet</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_integratedAbsEncoder">m_integratedAbsEncoder</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_mainPidId">m_mainPidId</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_mainPIDSlotId">m_mainPIDSlotId</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleRadkV">m_moduleRadkV</a></span></code></th>
<td class="colLast">
<div class="block">kV feed forward for PID</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private com.ctre.phoenix.motorcontrol.can.TalonFX</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_motor">m_motor</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<h3>Fields inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
<code><a href="../SwerveMotor.html#kD">kD</a>, <a href="../SwerveMotor.html#kF">kF</a>, <a href="../SwerveMotor.html#kI">kI</a>, <a href="../SwerveMotor.html#kIZ">kIZ</a>, <a href="../SwerveMotor.html#kP">kP</a>, <a href="../SwerveMotor.html#m_motorType">m_motorType</a>, <a href="../SwerveMotor.html#target">target</a></code></li>
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<h3>Constructor Summary</h3>
<table class="memberSummary">
<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">CTRESwerveMotor</a></span>&#8203;(com.ctre.phoenix.motorcontrol.can.TalonFX&nbsp;motor,
<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;encoder,
<a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
double&nbsp;gearRatio,
double&nbsp;wheelDiameter,
double&nbsp;freeSpeedRPM,
double&nbsp;powerLimit)</code></th>
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<h3>Method Summary</h3>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAmps()">getAmps</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current output.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current value of the encoder.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimizeCANFrames()">optimizeCANFrames</a></span>()</code></th>
<td class="colLast">
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#saveConfig()">saveConfig</a></span>()</code></th>
<td class="colLast">
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>&#8203;(double&nbsp;speed)</code></th>
<td class="colLast">
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setConversionFactor(double)">setConversionFactor</a></span>&#8203;(double&nbsp;conversionFactor)</code></th>
<td class="colLast">
<div class="block">Configures the conversion factor based upon which motor.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>&#8203;(int&nbsp;currentLimit)</code></th>
<td class="colLast">
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setEncoder(double)">setEncoder</a></span>&#8203;(double&nbsp;value)</code></th>
<td class="colLast">
<div class="block">Set the encoder value.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;inverted)</code></th>
<td class="colLast">
<div class="block">Invert the motor.</div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double)">setPIDF</a></span>&#8203;(double&nbsp;P,
double&nbsp;I,
double&nbsp;D,
double&nbsp;F,
double&nbsp;integralZone)</code></th>
<td class="colLast">
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
</td>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDOutputRange(double,double)">setPIDOutputRange</a></span>&#8203;(double&nbsp;min,
double&nbsp;max)</code></th>
<td class="colLast">
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
</td>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setTarget(double,double)">setTarget</a></span>&#8203;(double&nbsp;target,
double&nbsp;feedforward)</code></th>
<td class="colLast">
<div class="block">Set the target for the PID loop.</div>
</td>
</tr>
<tr id="i15" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>&#8203;(double&nbsp;nominalVoltage)</code></th>
<td class="colLast">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</td>
</tr>
<tr id="i16" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
<td class="colLast">
<div class="block">Stop the motor by sending 0 volts to it.</div>
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<h3>Methods inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
<code><a href="../SwerveMotor.html#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></code></li>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<a id="m_angleEncoder">
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<h4>m_angleEncoder</h4>
<pre>private final&nbsp;<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a> m_angleEncoder</pre>
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<a id="m_integratedAbsEncoder">
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<h4>m_integratedAbsEncoder</h4>
<pre>private final&nbsp;boolean m_integratedAbsEncoder</pre>
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<h4>m_allowableClosedLoopError</h4>
<pre>private final&nbsp;double m_allowableClosedLoopError</pre>
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<h4>m_controlMode</h4>
<pre>private final&nbsp;com.ctre.phoenix.motorcontrol.ControlMode m_controlMode</pre>
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<h4>m_mainPIDSlotId</h4>
<pre>private final&nbsp;int m_mainPIDSlotId</pre>
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<h4>m_mainPidId</h4>
<pre>private final&nbsp;int m_mainPidId</pre>
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<h4>m_encoderRet</h4>
<pre>private final&nbsp;java.util.function.Supplier&lt;java.lang.Double&gt; m_encoderRet</pre>
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<h4>m_motor</h4>
<pre>private final&nbsp;com.ctre.phoenix.motorcontrol.can.TalonFX m_motor</pre>
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<h4>m_moduleRadkV</h4>
<pre>private final&nbsp;double m_moduleRadkV</pre>
<div class="block">kV feed forward for PID</div>
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<h3>Constructor Detail</h3>
<a id="&lt;init&gt;(com.ctre.phoenix.motorcontrol.can.TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
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<h4>CTRESwerveMotor</h4>
<pre>public&nbsp;CTRESwerveMotor&#8203;(com.ctre.phoenix.motorcontrol.can.TalonFX&nbsp;motor,
<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;encoder,
<a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
double&nbsp;gearRatio,
double&nbsp;wheelDiameter,
double&nbsp;freeSpeedRPM,
double&nbsp;powerLimit)</pre>
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<a id="setPIDOutputRange(double,double)">
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<h4>setPIDOutputRange</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setPIDOutputRange&#8203;(double&nbsp;min,
double&nbsp;max)</pre>
<div class="block">Configure the maximum power (-1 to 1) the PID can output. This helps manage voltage pull for the drive base.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setPIDOutputRange(double,double)">setPIDOutputRange</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>min</code> - Minimum output.</dd>
<dd><code>max</code> - Maximum output.</dd>
</dl>
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<a id="setPIDF(double,double,double,double,double)">
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<h4>setPIDF</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setPIDF&#8203;(double&nbsp;P,
double&nbsp;I,
double&nbsp;D,
double&nbsp;F,
double&nbsp;integralZone)</pre>
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setPIDF(double,double,double,double,double)">setPIDF</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>P</code> - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units.
Default is 1.0</dd>
<dd><code>I</code> - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every
PID Loop.</dd>
<dd><code>D</code> - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per PID
loop). Default is 0.1</dd>
<dd><code>F</code> - Feed Fwd gain for Closed loop.</dd>
<dd><code>integralZone</code> - Integral Zone can be used to auto clear the integral accumulator if the sensor pos is too far
from the target. This prevents unstable oscillation if the kI is too large. Value is in sensor
units.</dd>
</dl>
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<a id="setConversionFactor(double)">
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<h4>setConversionFactor</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setConversionFactor&#8203;(double&nbsp;conversionFactor)</pre>
<div class="block">Configures the conversion factor based upon which motor.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setConversionFactor(double)">setConversionFactor</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>conversionFactor</code> - Conversion from RPM to MPS for drive motor, and rotations to degrees for the turning
motor.</dd>
</dl>
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<h4>setTarget</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setTarget&#8203;(double&nbsp;target,
double&nbsp;feedforward)</pre>
<div class="block">Set the target for the PID loop.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setTarget(double,double)">setTarget</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>target</code> - The PID target to aim for.</dd>
<dd><code>feedforward</code> - The feedforward for this target.</dd>
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<h4>stop</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;stop()</pre>
<div class="block">Stop the motor by sending 0 volts to it.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#stop()">stop</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;set&#8203;(double&nbsp;speed)</pre>
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#set(double)">set</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
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<dd><code>speed</code> - Speed from -1 to 1.</dd>
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<h4>get</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;get()</pre>
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#get()">get</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
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<dd>Current value of the encoder.</dd>
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<pre class="methodSignature">public&nbsp;double&nbsp;getPosition()</pre>
<div class="block">Get the current value of the encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#getPosition()">getPosition</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Current value of the encoder.</dd>
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<h4>setVoltageCompensation</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setVoltageCompensation&#8203;(double&nbsp;nominalVoltage)</pre>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setVoltageCompensation(double)">setVoltageCompensation</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;setCurrentLimit&#8203;(int&nbsp;currentLimit)</pre>
<div class="block">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.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setCurrentLimit(int)">setCurrentLimit</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
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<h4>setEncoder</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setEncoder&#8203;(double&nbsp;value)</pre>
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<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setEncoder(double)">setEncoder</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
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<dd><code>value</code> - Value to set the encoder to.</dd>
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<pre class="methodSignature">public&nbsp;boolean&nbsp;reachable()</pre>
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#reachable()">reachable</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
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<dd>true on all devices are accessible over CAN.</dd>
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<h4>remoteIntegratedEncoder</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;remoteIntegratedEncoder()</pre>
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true, if the absolute encoder is being used as the integrated controller.</dd>
</dl>
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<h4>optimizeCANFrames</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;optimizeCANFrames()</pre>
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#optimizeCANFrames()">optimizeCANFrames</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
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<h4>saveConfig</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;saveConfig()</pre>
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#saveConfig()">saveConfig</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
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<h4>setInverted</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;inverted)</pre>
<div class="block">Invert the motor.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>inverted</code> - Set the motor as inverted.</dd>
</dl>
</li>
</ul>
<a id="getAmps()">
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<h4>getAmps</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getAmps()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from class:&nbsp;<code><a href="../SwerveMotor.html#getAmps()">SwerveMotor</a></code></span></div>
<div class="block">Get the current output.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#getAmps()">getAmps</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Output amps.</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></div>
<h2 title="Enum REVSwerveMotor.REV_slotIdx" class="title">Enum REVSwerveMotor.REV_slotIdx</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>java.lang.Enum&lt;<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>&gt;</li>
<li>
<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor.REV_slotIdx</li>
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<dt>All Implemented Interfaces:</dt>
<dd><code>java.io.Serializable</code>, <code>java.lang.Comparable&lt;<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>&gt;</code></dd>
</dl>
<dl>
<dt>Enclosing class:</dt>
<dd><a href="REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dd>
</dl>
<hr>
<pre>static enum <span class="typeNameLabel">REVSwerveMotor.REV_slotIdx</span>
extends java.lang.Enum&lt;<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>&gt;</pre>
<div class="block">REV Slots for PID configuration.</div>
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<th class="colFirst" scope="col">Enum Constant</th>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#Position">Position</a></span></code></th>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#Velocity">Velocity</a></span></code></th>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">REV_slotIdx</a></span>()</code></th>
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<td class="colFirst"><code>static <a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(java.lang.String&nbsp;name)</code></th>
<td class="colLast">
<div class="block">Returns the enum constant of this type with the specified name.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>static <a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
<td class="colLast">
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
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<pre>public static final&nbsp;<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a> Position</pre>
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<a id="Velocity">
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<h4>Velocity</h4>
<pre>public static final&nbsp;<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a> Velocity</pre>
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<h4>Simulation</h4>
<pre>public static final&nbsp;<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a> Simulation</pre>
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<h4>REV_slotIdx</h4>
<pre>private&nbsp;REV_slotIdx()</pre>
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<h4>values</h4>
<pre class="methodSignature">public static&nbsp;<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (REVSwerveMotor.REV_slotIdx c : REVSwerveMotor.REV_slotIdx.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
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<pre class="methodSignature">public static&nbsp;<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a>&nbsp;valueOf&#8203;(java.lang.String&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
<dd><code>java.lang.NullPointerException</code> - if the argument is null</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></div>
<h2 title="Class REVSwerveMotor" class="title">Class REVSwerveMotor</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve.SwerveMotor</a></li>
<li>
<ul class="inheritance">
<li>frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor</li>
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<pre>public class <span class="typeNameLabel">REVSwerveMotor</span>
extends <a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></pre>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Class</th>
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<td class="colFirst"><code>(package private) static class&nbsp;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></span></code></th>
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<div class="block">REV Slots for PID configuration.</div>
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<h3>Nested classes/interfaces inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
<code><a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></code></li>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>private com.revrobotics.MotorFeedbackSensor</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoder">m_encoder</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private java.util.function.Supplier&lt;java.lang.Double&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoderPosRet">m_encoderPosRet</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private java.util.function.Supplier&lt;java.lang.Double&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_encoderRet">m_encoderRet</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private com.revrobotics.SparkMaxPIDController.ArbFFUnits</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_feedforwardUnits">m_feedforwardUnits</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_integratedAbsEncoder">m_integratedAbsEncoder</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_mainPidSlot">m_mainPidSlot</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleRadkV">m_moduleRadkV</a></span></code></th>
<td class="colLast">
<div class="block">kV feed forward for PID</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private com.revrobotics.CANSparkMax</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_motor">m_motor</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private com.revrobotics.SparkMaxPIDController</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_pid">m_pid</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private com.revrobotics.CANSparkMax.ControlType</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_pidControlType">m_pidControlType</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_secondaryPidSlot">m_secondaryPidSlot</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<code><a href="../SwerveMotor.html#kD">kD</a>, <a href="../SwerveMotor.html#kF">kF</a>, <a href="../SwerveMotor.html#kI">kI</a>, <a href="../SwerveMotor.html#kIZ">kIZ</a>, <a href="../SwerveMotor.html#kP">kP</a>, <a href="../SwerveMotor.html#m_motorType">m_motorType</a>, <a href="../SwerveMotor.html#target">target</a></code></li>
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<h3>Constructor Summary</h3>
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<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
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<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.revrobotics.CANSparkMax,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">REVSwerveMotor</a></span>&#8203;(com.revrobotics.CANSparkMax&nbsp;motor,
<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
<a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
double&nbsp;gearRatio,
double&nbsp;wheelDiameter,
double&nbsp;freeSpeedRPM,
double&nbsp;powerLimit)</code></th>
<td class="colLast">
<div class="block">Constructor for REV Swerve Motor, expecting CANSparkMax.</div>
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<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<tr id="i0" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#get()">get</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAmps()">getAmps</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current output.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the current value of the encoder.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimizeCANFrames()">optimizeCANFrames</a></span>()</code></th>
<td class="colLast">
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reachable()">reachable</a></span>()</code></th>
<td class="colLast">
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#saveConfig()">saveConfig</a></span>()</code></th>
<td class="colLast">
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#set(double)">set</a></span>&#8203;(double&nbsp;speed)</code></th>
<td class="colLast">
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCANStatusFrames(int,int,int,int,int)">setCANStatusFrames</a></span>&#8203;(int&nbsp;CANStatus0,
int&nbsp;CANStatus1,
int&nbsp;CANStatus2,
int&nbsp;CANStatus3,
int&nbsp;CANStatus4)</code></th>
<td class="colLast">
<div class="block">Set the CAN status frames.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setConversionFactor(double)">setConversionFactor</a></span>&#8203;(double&nbsp;conversionFactor)</code></th>
<td class="colLast">
<div class="block">Configures the conversion factor based upon which motor.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentLimit(int)">setCurrentLimit</a></span>&#8203;(int&nbsp;currentLimit)</code></th>
<td class="colLast">
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setEncoder(double)">setEncoder</a></span>&#8203;(double&nbsp;value)</code></th>
<td class="colLast">
<div class="block">Set the encoder value.</div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setInverted(boolean)">setInverted</a></span>&#8203;(boolean&nbsp;inverted)</code></th>
<td class="colLast">
<div class="block">Invert the motor.</div>
</td>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDF(double,double,double,double,double)">setPIDF</a></span>&#8203;(double&nbsp;P,
double&nbsp;I,
double&nbsp;D,
double&nbsp;F,
double&nbsp;integralZone)</code></th>
<td class="colLast">
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
</td>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPIDOutputRange(double,double)">setPIDOutputRange</a></span>&#8203;(double&nbsp;min,
double&nbsp;max)</code></th>
<td class="colLast">
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
</td>
</tr>
<tr id="i15" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setTarget(double,double)">setTarget</a></span>&#8203;(double&nbsp;target,
double&nbsp;feedforward)</code></th>
<td class="colLast">
<div class="block">Set the target for the PID loop.</div>
</td>
</tr>
<tr id="i16" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVoltageCompensation(double)">setVoltageCompensation</a></span>&#8203;(double&nbsp;nominalVoltage)</code></th>
<td class="colLast">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</td>
</tr>
<tr id="i17" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#stop()">stop</a></span>()</code></th>
<td class="colLast">
<div class="block">Stop the motor by sending 0 volts to it.</div>
</td>
</tr>
</table>
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<h3>Methods inherited from class&nbsp;frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></h3>
<code><a href="../SwerveMotor.html#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor</a></code></li>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h3>Field Detail</h3>
<a id="m_mainPidSlot">
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<h4>m_mainPidSlot</h4>
<pre>private final&nbsp;int m_mainPidSlot</pre>
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<h4>m_secondaryPidSlot</h4>
<pre>private final&nbsp;int m_secondaryPidSlot</pre>
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<h4>m_pidControlType</h4>
<pre>private final&nbsp;com.revrobotics.CANSparkMax.ControlType m_pidControlType</pre>
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<pre>private final&nbsp;com.revrobotics.CANSparkMax m_motor</pre>
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<pre>private final&nbsp;com.revrobotics.MotorFeedbackSensor m_encoder</pre>
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<pre>private final&nbsp;boolean m_integratedAbsEncoder</pre>
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<h4>m_pid</h4>
<pre>private final&nbsp;com.revrobotics.SparkMaxPIDController m_pid</pre>
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<h4>m_feedforwardUnits</h4>
<pre>private final&nbsp;com.revrobotics.SparkMaxPIDController.ArbFFUnits m_feedforwardUnits</pre>
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<pre>private final&nbsp;java.util.function.Supplier&lt;java.lang.Double&gt; m_encoderRet</pre>
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<pre>private final&nbsp;java.util.function.Supplier&lt;java.lang.Double&gt; m_encoderPosRet</pre>
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<pre>private final&nbsp;double m_moduleRadkV</pre>
<div class="block">kV feed forward for PID</div>
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<h3>Constructor Detail</h3>
<a id="&lt;init&gt;(com.revrobotics.CANSparkMax,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">
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<h4>REVSwerveMotor</h4>
<pre>public&nbsp;REVSwerveMotor&#8203;(com.revrobotics.CANSparkMax&nbsp;motor,
<a href="../SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;?&gt;&nbsp;absoluteEncoder,
<a href="../SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a>&nbsp;type,
double&nbsp;gearRatio,
double&nbsp;wheelDiameter,
double&nbsp;freeSpeedRPM,
double&nbsp;powerLimit)</pre>
<div class="block">Constructor for REV Swerve Motor, expecting CANSparkMax. Clears sticky faults and restores factory defaults.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motor</code> - SparkMAX motor controller.</dd>
<dd><code>absoluteEncoder</code> - The absolute encoder used for the module, if the motor is a turning motor and the encoder is
compatible it will set the encoder as the remote integrated encoder and does not need
periodic synchronization.</dd>
<dd><code>type</code> - Swerve module motor type.</dd>
<dd><code>gearRatio</code> - Gear ratio.</dd>
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
<dd><code>freeSpeedRPM</code> - Free speed RPM of the motor.</dd>
<dd><code>powerLimit</code> - Power limit for the motor.</dd>
</dl>
</li>
</ul>
</li>
</ul>
</section>
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<h3>Method Detail</h3>
<a id="setPIDOutputRange(double,double)">
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<h4>setPIDOutputRange</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setPIDOutputRange&#8203;(double&nbsp;min,
double&nbsp;max)</pre>
<div class="block">Configure the maximum power (-1 to 1) the PID can output. This helps manage voltage pull for the drive base.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setPIDOutputRange(double,double)">setPIDOutputRange</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>min</code> - Minimum output.</dd>
<dd><code>max</code> - Maximum output.</dd>
</dl>
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</ul>
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<h4>setPIDF</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setPIDF&#8203;(double&nbsp;P,
double&nbsp;I,
double&nbsp;D,
double&nbsp;F,
double&nbsp;integralZone)</pre>
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setPIDF(double,double,double,double,double)">setPIDF</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>P</code> - Proportional gain for closed loop. This is multiplied by closed loop error in sensor units.
Default is 1.0</dd>
<dd><code>I</code> - Integral gain for closed loop. This is multiplied by closed loop error in sensor units every
PID Loop.</dd>
<dd><code>D</code> - Derivative gain for closed loop. This is multiplied by derivative error (sensor units per PID
loop). Default is 0.1</dd>
<dd><code>F</code> - Feed Fwd gain for Closed loop.</dd>
<dd><code>integralZone</code> - Integral Zone can be used to auto clear the integral accumulator if the sensor pos is too far
from the target. This prevents unstable oscillation if the kI is too large. Value is in sensor
units.</dd>
</dl>
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<h4>setConversionFactor</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setConversionFactor&#8203;(double&nbsp;conversionFactor)</pre>
<div class="block">Configures the conversion factor based upon which motor.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setConversionFactor(double)">setConversionFactor</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>conversionFactor</code> - Conversion from RPM to MPS for drive motor, and rotations to degrees for the turning
motor.</dd>
</dl>
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<h4>setTarget</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setTarget&#8203;(double&nbsp;target,
double&nbsp;feedforward)</pre>
<div class="block">Set the target for the PID loop.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setTarget(double,double)">setTarget</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>target</code> - The PID target to aim for.</dd>
<dd><code>feedforward</code> - feedForward value.</dd>
</dl>
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<h4>stop</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;stop()</pre>
<div class="block">Stop the motor by sending 0 volts to it.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#stop()">stop</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
</dl>
</li>
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<h4>set</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;set&#8203;(double&nbsp;speed)</pre>
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#set(double)">set</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>speed</code> - Speed from -1 to 1.</dd>
</dl>
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<h4>get</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;get()</pre>
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#get()">get</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Current value of the encoder.</dd>
</dl>
</li>
</ul>
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<h4>getAmps</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getAmps()</pre>
<div class="block">Get the current output.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#getAmps()">getAmps</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Output amps.</dd>
</dl>
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<h4>getPosition</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getPosition()</pre>
<div class="block">Get the current value of the encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#getPosition()">getPosition</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Current value of the encoder.</dd>
</dl>
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<h4>setVoltageCompensation</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setVoltageCompensation&#8203;(double&nbsp;nominalVoltage)</pre>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setVoltageCompensation(double)">setVoltageCompensation</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>nominalVoltage</code> - Nominal voltage for operation to output to.</dd>
</dl>
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<h4>setCurrentLimit</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setCurrentLimit&#8203;(int&nbsp;currentLimit)</pre>
<div class="block">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.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setCurrentLimit(int)">setCurrentLimit</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>currentLimit</code> - Current limit in AMPS at free speed.</dd>
</dl>
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<h4>setEncoder</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setEncoder&#8203;(double&nbsp;value)</pre>
<div class="block">Set the encoder value.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setEncoder(double)">setEncoder</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>value</code> - Value to set the encoder to.</dd>
</dl>
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<a id="setCANStatusFrames(int,int,int,int,int)">
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<h4>setCANStatusFrames</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setCANStatusFrames&#8203;(int&nbsp;CANStatus0,
int&nbsp;CANStatus1,
int&nbsp;CANStatus2,
int&nbsp;CANStatus3,
int&nbsp;CANStatus4)</pre>
<div class="block">Set the CAN status frames.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>CANStatus0</code> - Applied Output, Faults, Sticky Faults, Is Follower</dd>
<dd><code>CANStatus1</code> - Motor Velocity, Motor Temperature, Motor Voltage, Motor Current</dd>
<dd><code>CANStatus2</code> - Motor Position</dd>
<dd><code>CANStatus3</code> - Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position</dd>
<dd><code>CANStatus4</code> - Alternate Encoder Velocity, Alternate Encoder Position</dd>
</dl>
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<h4>reachable</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;reachable()</pre>
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#reachable()">reachable</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true on all devices are accessible over CAN.</dd>
</dl>
</li>
</ul>
<a id="remoteIntegratedEncoder()">
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<h4>remoteIntegratedEncoder</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;remoteIntegratedEncoder()</pre>
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#remoteIntegratedEncoder()">remoteIntegratedEncoder</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true, if the absolute encoder is being used as the integrated controller.</dd>
</dl>
</li>
</ul>
<a id="optimizeCANFrames()">
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<h4>optimizeCANFrames</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;optimizeCANFrames()</pre>
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#optimizeCANFrames()">optimizeCANFrames</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
</dl>
</li>
</ul>
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<h4>saveConfig</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;saveConfig()</pre>
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#saveConfig()">saveConfig</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
</dl>
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<h4>setInverted</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setInverted&#8203;(boolean&nbsp;inverted)</pre>
<div class="block">Invert the motor.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../SwerveMotor.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>inverted</code> - Set the motor as inverted.</dd>
</dl>
</li>
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</li>
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<title>frc.robot.subsystems.swervedrive.swerve.motors</title>
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<tbody>
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<th class="colFirst" scope="row"><a href="CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></th>
<td class="colLast">&nbsp;</td>
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<tr class="rowColor">
<th class="colFirst" scope="row"><a href="REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></th>
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<th class="colFirst" scope="row"><a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></th>
<td class="colLast">
<div class="block">The TalonSRX PID to use onboard.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></th>
<td class="colLast">
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></th>
<td class="colLast">
<div class="block">REV Slots for PID configuration.</div>
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<li class="circle">java.lang.Object
<ul>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="../SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveMotor</span></a>
<ul>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor</span></a></li>
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<h2 title="Enum Hierarchy">Enum Hierarchy</h2>
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<li class="circle">java.lang.Enum&lt;E&gt; (implements java.lang.Comparable&lt;T&gt;, java.io.Serializable)
<ul>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_pidIdx</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_remoteSensor</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_slotIdx</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">REVSwerveMotor.REV_slotIdx</span></a></li>
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<title>frc.robot.subsystems.swervedrive.swerve</title>
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<h1 title="Package" class="title">Package&nbsp;frc.robot.subsystems.swervedrive.swerve</h1>
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<table class="typeSummary">
<caption><span>Class Summary</span><span class="tabEnd">&nbsp;</span></caption>
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<th class="colFirst" scope="col">Class</th>
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</tr>
<tbody>
<tr class="altColor">
<th class="colFirst" scope="row"><a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></th>
<td class="colLast">
<div class="block">SwerveDrive base which is meant to be platform agnostic.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><a href="SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a>&lt;DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder&gt;</th>
<td class="colLast">
<div class="block">Helper class for easier swerve module creation</div>
</td>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><a href="SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a>&lt;AbsoluteEncoderType&gt;</th>
<td class="colLast">
<div class="block">Swerve Encoder class definition for common interfaces.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;AngleMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;AbsoluteEncoderType&gt;</th>
<td class="colLast">
<div class="block">Swerve module for representing a single swerve module of the robot.</div>
</td>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><a href="SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></th>
<td class="colLast">
<div class="block">Swerve Drive JSON parser.</div>
</td>
</tr>
</tbody>
</table>
</li>
<li class="blockList">
<table class="typeSummary">
<caption><span>Enum Summary</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Enum</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tbody>
<tr class="altColor">
<th class="colFirst" scope="row"><a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></th>
<td class="colLast">
<div class="block">Swerve Module location on the robot.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><a href="SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></th>
<td class="colLast">
<div class="block">Verbosity levels for data publishing,</div>
</td>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></th>
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<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveMotor.ModuleMotorType</span></a></li>
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<div class="contentContainer"><a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a><a id="I:A">
<!-- -->
</a>
<h2 class="title">A</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#absoluteEncoder">absoluteEncoder</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Absolute encoder for the swerve module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#activeCAN()">activeCAN()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#addEntry(java.lang.String,java.lang.Object)">addEntry(String, Object)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Create a widget and add the entry to the hashmap of entries for network tables.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html#angleOffset">angleOffset</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#angleOffset">angleOffset</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Angle offset of the CANCoder at initialization.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html#angularVelocityRadPerSecond">angularVelocityRadPerSecond</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></dt>
<dd>
<div class="block">Angular velocity in radians per second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html#AUXILIARY_PID">AUXILIARY_PID</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a></div>
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<h2 class="title">K</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#kD">kD</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">PIDF Values.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#kF">kF</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">PIDF Values.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#kI">kI</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">PIDF Values.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#kIZ">kIZ</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">PIDF Values.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#kP">kP</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">PIDF Values.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a></div>
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<!DOCTYPE HTML>
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<h2 class="title">L</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html#loc">loc</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html#LOW">LOW</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></dt>
<dd>
<div class="block">The bare minimum and not utilize the CAN bus when reporting data.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a></div>
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<h2 class="title">M</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_allowableClosedLoopError">m_allowableClosedLoopError</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_angle">m_angle</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_angleEncoder">m_angleEncoder</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_backLeft">m_backLeft</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Back left swerve drive</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_backRight">m_backRight</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Back right swerve drive</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_controlMode">m_controlMode</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_driverMaxAngularVelocity">m_driverMaxAngularVelocity</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Maximum speed in meters per second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_driverMaxSpeedMPS">m_driverMaxSpeedMPS</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Maximum speed in meters per second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_driveTimer">m_driveTimer</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_encoder">m_encoder</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#m_encoder">m_encoder</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">The encoder can be directly referenced for configuration purposes of onboard PIDs.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_encoderPosRet">m_encoderPosRet</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_encoderRet">m_encoderRet</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_encoderRet">m_encoderRet</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_feedforwardUnits">m_feedforwardUnits</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_field">m_field</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Field2d displayed on shuffleboard with current position.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#m_forwardKinematics">m_forwardKinematics</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_frontLeft">m_frontLeft</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Front left swerve drive</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_frontRight">m_frontRight</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Front right swerve drive</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_gyroInverted">m_gyroInverted</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Invert the gyro reading.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_integratedAbsEncoder">m_integratedAbsEncoder</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_integratedAbsEncoder">m_integratedAbsEncoder</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#m_inverseKinematics">m_inverseKinematics</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#m_inverted">m_inverted</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#m_inverted">m_inverted</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#m_lastAngle">m_lastAngle</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#m_lastAngle">m_lastAngle</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#m_lastTime">m_lastTime</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#m_lastTime">m_lastTime</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_mainPidId">m_mainPidId</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_mainPidSlot">m_mainPidSlot</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_mainPIDSlotId">m_mainPIDSlotId</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_moduleRadkV">m_moduleRadkV</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">kV feed forward for PID</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_moduleRadkV">m_moduleRadkV</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">kV feed forward for PID</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#m_modules">m_modules</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#m_moduleStates">m_moduleStates</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#m_motor">m_motor</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_motor">m_motor</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#m_motorType">m_motorType</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Module motor type.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#m_numModules">m_numModules</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_physicalMaxSpeedMPS">m_physicalMaxSpeedMPS</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Maximum speed in meters per second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_pid">m_pid</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_pidControlType">m_pidControlType</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_pigeonIMU">m_pigeonIMU</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Pigeon 2.0 centered on the robot.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_prevChassisSpeed">m_prevChassisSpeed</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#m_prevCoR">m_prevCoR</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#m_secondaryPidSlot">m_secondaryPidSlot</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_swerveKinematics">m_swerveKinematics</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Swerve drive kinematics.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_swervePoseEstimator">m_swervePoseEstimator</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Swerve drive pose estimator for attempting to figure out our current position.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#m_timer">m_timer</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#m_timer">m_timer</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_timerPrev">m_timerPrev</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_turningLimiter">m_turningLimiter</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">The slew rate limiters to make control smooth.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#m_velocity">m_velocity</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#m_velocity">m_velocity</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_xLimiter">m_xLimiter</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">The slew rate limiters to make control smooth.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#m_yLimiter">m_yLimiter</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">The slew rate limiters to make control smooth.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#maxDriveSpeedMPS">maxDriveSpeedMPS</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Maximum speed in meters per second, used to eliminate unnecessary movement of the module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html#%3Cinit%3E()">ModuleMotorType()</a></span> - Constructor for enum frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#moduleTab">moduleTab</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html#MotionProfile">MotionProfile</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
</dl>
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<h2 class="title">N</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html#NORMAL">NORMAL</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></dt>
<dd>
<div class="block">Utilize the CAN bus minimally.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#NT4Entries">NT4Entries</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>&nbsp;</dd>
</dl>
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<h2 class="title">O</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#openJson(java.io.File)">openJson(File)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Open JSON file.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html#optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)">optimize(SwerveModuleState2, Rotation2d)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></dt>
<dd>
<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#optimizeCANFrames()">optimizeCANFrames()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#optimizeCANFrames()">optimizeCANFrames()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#optimizeCANFrames()">optimizeCANFrames()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Optimize the CAN status frames to reduce utilization.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a></div>
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<div class="contentContainer"><a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a><a id="I:P">
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<h2 class="title">P</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html#placeInAppropriate0To360Scope(double,double)">placeInAppropriate0To360Scope(double, double)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html#Position">Position</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html#PRIMARY_PID">PRIMARY_PID</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#publish(frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity)">publish(SwerveModule.Verbosity)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Publish data from the Swerve Modules to the dashboard.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#publish(frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity)">publish(SwerveModule.Verbosity)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Publish data to the smart dashboard relating to this swerve module.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders"><span class="typeNameLink">PWMAnalogEncoder</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/encoders/package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#%3Cinit%3E(edu.wpi.first.wpilibj.AnalogEncoder)">PWMAnalogEncoder(AnalogEncoder)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Constructor for analog encoder Swerve Encoder.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders"><span class="typeNameLink">PWMDutyCycleEncoder</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/encoders/package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#%3Cinit%3E(edu.wpi.first.wpilibj.DutyCycleEncoder)">PWMDutyCycleEncoder(DutyCycleEncoder)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Construct PWM DutyCycleEncoder class.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a></div>
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View File

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<!DOCTYPE HTML>
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<div class="contentContainer"><a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a><a id="I:R">
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<h2 class="title">R</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html#reachable()">reachable()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></dt>
<dd>
<div class="block">Is the encoder reachable?</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#reachable()">reachable()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Is the encoder reachable?</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#reachable()">reachable()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Is the encoder reachable?</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html#reachable()">reachable()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></dt>
<dd>
<div class="block">Is the encoder reachable?</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#reachable()">reachable()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#reachable()">reachable()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#reachable()">reachable()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">Is the encoder reachable?</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#reachable()">reachable()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Check that the link is good on the swerve module and CAN bus is able to retrieve data.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html#REMOTE_SENSOR_0">REMOTE_SENSOR_0</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html#REMOTE_SENSOR_1">REMOTE_SENSOR_1</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#remoteIntegratedEncoder()">remoteIntegratedEncoder()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#remoteIntegratedEncoder()">remoteIntegratedEncoder()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#remoteIntegratedEncoder()">remoteIntegratedEncoder()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Checks if the absolute encoder is able to be read directly by the motor controller instead of using the
synchronizeEncoder() function periodically.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#remoteIntegratedEncoder()">remoteIntegratedEncoder()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Check if the absolute encoder is used inplace of the integrated encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#resetEncoders()">resetEncoders()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Resets the drive encoders to currently read a position of 0.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#resetEncoders()">resetEncoders()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Reset the REV encoders onboard the SparkMax's to 0, and set's the drive motor to position to 0 and synchronizes the
internal steering encoders with the absolute encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#resetOdometry(edu.wpi.first.math.geometry.Pose2d)">resetOdometry(Pose2d)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Reset the odometry given the position and using current rotation from the PigeonIMU 2.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html#%3Cinit%3E()">REV_slotIdx()</a></span> - Constructor for enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders"><span class="typeNameLink">REVAbsoluteEncoder</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/encoders/package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html#%3Cinit%3E(com.revrobotics.AbsoluteEncoder)">REVAbsoluteEncoder(AbsoluteEncoder)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></dt>
<dd>
<div class="block">Constructor for AbsoluteEncoder class.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">REVSwerveMotor</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#%3Cinit%3E(com.revrobotics.CANSparkMax,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">REVSwerveMotor(CANSparkMax, SwerveEncoder&lt;?&gt;, SwerveMotor.ModuleMotorType, double, double, double, double)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Constructor for REV Swerve Motor, expecting CANSparkMax.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">REVSwerveMotor.REV_slotIdx</span></a> - Enum in <a href="../frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></dt>
<dd>
<div class="block">REV Slots for PID configuration.</div>
</dd>
</dl>
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<h2 class="title">S</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#saveConfig()">saveConfig()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#saveConfig()">saveConfig()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#saveConfig()">saveConfig()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Save configuration data to the motor controller so it is persistent on reboot.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#set(double)">set(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#set(double)">set(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#set(double)">set(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Common interface for setting the speed of a motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#set(double)">set(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Set the speed of the drive motor from -1 to 1.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#set(double,double,double,boolean)">set(double, double, double, boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Swerve drive function</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setAngle(double)">setAngle(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Set the angle of the swerve module without feedforward.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setAngle(double,double)">setAngle(double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Set the angle of the swerve module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setAngleOffset(double)">setAngleOffset(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Configure the magnetic offset in the CANCoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setCANStatusFrames(int,int,int,int,int)">setCANStatusFrames(int, int, int, int, int)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Set the CAN status frames.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#setConversionFactor(double)">setConversionFactor(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Configures the conversion factor based upon which motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setConversionFactor(double)">setConversionFactor(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Configures the conversion factor based upon which motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#setConversionFactor(double)">setConversionFactor(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Configures the conversion factor based upon which motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#setCurrentLimit(int)">setCurrentLimit(int)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setCurrentLimit(int)">setCurrentLimit(int)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#setCurrentLimit(int)">setCurrentLimit(int)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setCurrentLimit(int,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setCurrentLimit(int, SwerveMotor.ModuleMotorType)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#setEncoder(double)">setEncoder(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Set the encoder value.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setEncoder(double)">setEncoder(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Set the encoder value.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#setEncoder(double)">setEncoder(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Set the encoder value.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#setGyroInverted(boolean)">setGyroInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Invert the gyroscope reading.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></dt>
<dd>
<div class="block">Configure the sensor direction</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Configure the sensor direction</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Configure the sensor direction</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></dt>
<dd>
<div class="block">Configure the sensor direction.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Invert the motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Invert the motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">Configure the sensor direction</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Common interface for inverting direction of a motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#setInverted(boolean)">setInverted(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Invert the motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setInvertedAbsoluteEncoder(boolean)">setInvertedAbsoluteEncoder(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Invert the absolute encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setInvertedTurn(boolean)">setInvertedTurn(boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Set the steering motor to be inverted.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)">setModulePIDF(SwerveMotor, JsonNode)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Set the PIDF for the module if the given JSON has the paramters.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#setModuleStates(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D)">setModuleStates(SwerveModuleState2[])</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Set the swerve module states given an array of states.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html#setOffset(double)">setOffset(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></dt>
<dd>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#setOffset(double)">setOffset(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#setOffset(double)">setOffset(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html#setOffset(double)">setOffset(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></dt>
<dd>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#setOffset(double)">setOffset(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">Configure the magnetic offset for the AbsoluteEncoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#setPIDF(double,double,double,double,double)">setPIDF(double, double, double, double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setPIDF(double,double,double,double,double)">setPIDF(double, double, double, double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#setPIDF(double,double,double,double,double)">setPIDF(double, double, double, double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the SparkMax.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setPIDF(double, double, double, double, double, SwerveMotor.ModuleMotorType)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setPIDF(double,double,double,double,double,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType)">setPIDF(double, double, double, double, double, SwerveMotor.ModuleMotorType)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Set the PIDF coefficients for the closed loop PID onboard the motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#setPIDOutputRange(double,double)">setPIDOutputRange(double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setPIDOutputRange(double,double)">setPIDOutputRange(double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#setPIDOutputRange(double,double)">setPIDOutputRange(double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Configure the maximum power (-1 to 1) the PID can output.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setState(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2)">setState(SwerveModuleState2)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Set the module speed and angle based off the module state.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#setTarget(double,double)">setTarget(double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Set the target for the PID loop.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setTarget(double,double)">setTarget(double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Set the target for the PID loop.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#setTarget(double,double)">setTarget(double, double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Set the target for the PID loop.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html#SETUP">SETUP</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></dt>
<dd>
<div class="block">Creates every field for the module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setVelocity(double)">setVelocity(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Set the drive motor velocity in MPS.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#setVoltageCompensation()">setVoltageCompensation()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Enable voltage compensation to the current battery voltage on all modules.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#setVoltageCompensation(double)">setVoltageCompensation(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#setVoltageCompensation(double)">setVoltageCompensation(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#setVoltageCompensation(double)">setVoltageCompensation(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#setVoltageCompensation(double)">setVoltageCompensation(double)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#setX()">setX()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Sets the wheels into an X formation to prevent movement.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html#Simulation">Simulation</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html#steering">steering</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#steeringKV">steeringKV</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">kV for steering feedforward.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#stop()">stop()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Stop the motor by sending 0 volts to it.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#stop()">stop()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Stop the motor by sending 0 volts to it.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#stop()">stop()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Stop the motor by sending 0 volts to it.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#stopMotor()">stopMotor()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Stop all running and turning motors.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#stopMotor()">stopMotor()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Stops motor movement.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#subscribe()">subscribe()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Update swerve module parameters based on data in the dashboard.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#subscribe()">subscribe()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Subscribe from data within smart dashboard to make changes to the swerve module.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveDrive</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></dt>
<dd>
<div class="block">SwerveDrive base which is meant to be platform agnostic.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#%3Cinit%3E(frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,frc.robot.subsystems.swervedrive.swerve.SwerveModule,com.ctre.phoenix.sensors.WPI_Pigeon2,double,double,double,double,double,boolean,edu.wpi.first.math.geometry.Pose2d)">SwerveDrive(SwerveModule&lt;?, ?, ?&gt;, SwerveModule&lt;?, ?, ?&gt;, SwerveModule&lt;?, ?, ?&gt;, SwerveModule&lt;?, ?, ?&gt;, WPI_Pigeon2, double, double, double, double, double, boolean, Pose2d)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Constructor for Swerve Drive assuming modules have been created and configured with PIDF and conversions.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveDrive.SwerveModuleConfig</span></a>&lt;<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">SteeringMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="type parameter in SwerveDrive.SwerveModuleConfig">AbsoluteEncoder</a> extends com.ctre.phoenix.sensors.CANCoder&gt; - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></dt>
<dd>
<div class="block">Helper class for easier swerve module creation</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics"><span class="typeNameLink">SwerveDriveKinematics2</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></dt>
<dd>
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)">SwerveDriveKinematics2(Translation2d...)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>
<div class="block">Constructs a swerve drive kinematics object.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveEncoder</span></a>&lt;<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="type parameter in SwerveEncoder">AbsoluteEncoderType</a>&gt; - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></dt>
<dd>
<div class="block">Swerve Encoder class definition for common interfaces.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#%3Cinit%3E()">SwerveEncoder()</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#swerveLocation">swerveLocation</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Enum representing the swerve module's location on the robot, assuming square.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveModule</span></a>&lt;<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="type parameter in SwerveModule">DriveMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="type parameter in SwerveModule">AngleMotorType</a> extends edu.wpi.first.wpilibj.motorcontrol.MotorController,&#8203;<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="type parameter in SwerveModule">AbsoluteEncoderType</a>&gt; - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></dt>
<dd>
<div class="block">Swerve module for representing a single swerve module of the robot.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#%3Cinit%3E(DriveMotorType,AngleMotorType,AbsoluteEncoderType,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation,double,double,double,double,double,double,double,double,double,double,double,boolean,boolean)">SwerveModule(DriveMotorType, AngleMotorType, AbsoluteEncoderType, SwerveModule.SwerveModuleLocation, double, double, double, double, double, double, double, double, double, double, double, boolean, boolean)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Swerve module constructor.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveModule.SwerveModuleLocation</span></a> - Enum in <a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></dt>
<dd>
<div class="block">Swerve Module location on the robot.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveModule.Verbosity</span></a> - Enum in <a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></dt>
<dd>
<div class="block">Verbosity levels for data publishing,</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html#%3Cinit%3E(DriveMotorType,SteeringMotorType,AbsoluteEncoder,double,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">SwerveModuleConfig(DriveMotorType, SteeringMotorType, AbsoluteEncoder, double, SwerveModule.SwerveModuleLocation)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a></dt>
<dd>
<div class="block">Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#swerveModuleLocation">swerveModuleLocation</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Swerve Module location object relative to the center of the robot.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html#%3Cinit%3E()">SwerveModuleLocation()</a></span> - Constructor for enum frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#SwerveModuleLocationToString(frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">SwerveModuleLocationToString(SwerveModule.SwerveModuleLocation)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Convert <a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><code>SwerveModule.SwerveModuleLocation</code></a> to <code>String</code> representation.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics"><span class="typeNameLink">SwerveModuleState2</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html#%3Cinit%3E()">SwerveModuleState2()</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></dt>
<dd>
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d)">SwerveModuleState2(double, Rotation2d)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></dt>
<dd>
<div class="block">Constructs a SwerveModuleState.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)">SwerveModuleState2(double, Rotation2d, double)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></dt>
<dd>
<div class="block">Constructs a SwerveModuleState.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState)">SwerveModuleState2(SwerveModuleState)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></dt>
<dd>
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveMotor</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#%3Cinit%3E()">SwerveMotor()</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveMotor.ModuleMotorType</span></a> - Enum in <a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></dt>
<dd>
<div class="block">Motor type for the swerve drive module</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveParser</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></dt>
<dd>
<div class="block">Swerve Drive JSON parser.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#%3Cinit%3E()">SwerveParser()</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#synchronizeEncoders()">synchronizeEncoders()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Synchronize internal steering encoders with the absolute encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#synchronizeSteeringEncoder()">synchronizeSteeringEncoder()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Synchronizes the internal encoder for the steering motor with the value from the absolute encoder.</div>
</dd>
</dl>
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<h2 class="title">T</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#target">target</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Target value for PID.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#targetAngle">targetAngle</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Store the last angle for optimization.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#targetAngularVelocityRPS">targetAngularVelocityRPS</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Angular velocity in radians per second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#targetVelocity">targetVelocity</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Target velocity for the swerve module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html#THIRD_PID">THIRD_PID</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#toChassisSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2...)">toChassisSpeeds(SwerveModuleState2...)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">toSwerveModuleStates(ChassisSpeeds)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>
<div class="block">Performs inverse kinematics.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">toSwerveModuleStates(ChassisSpeeds, Translation2d)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">toTwist2d(SwerveModulePosition...)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html#Turning">Turning</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html#TURNING">TURNING</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#turningMotor">turningMotor</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Motor Controller for the turning motor of the swerve drive module.</div>
</dd>
</dl>
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<h2 class="title">U</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#update()">update()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Update the swerve drive odometry.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#updateVelocity()">updateVelocity()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Updates the velocity every second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#updateVelocity()">updateVelocity()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Updates the velocity every second.</div>
</dd>
</dl>
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<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html#BackLeft">BackLeft</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html#BackRight">BackRight</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#bigInverseKinematics">bigInverseKinematics</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>&nbsp;</dd>
</dl>
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<!DOCTYPE HTML>
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
<title>V-Index</title>
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<h2 class="title">V</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></dt>
<dd>
<div class="block">Returns the enum constant of this type with the specified name.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html#values()">values()</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html#values()">values()</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html#values()">values()</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html#values()">values()</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html#values()">values()</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html#values()">values()</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html#values()">values()</a></span> - Static method in enum frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></dt>
<dd>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html#Velocity">Velocity</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html#Velocity">Velocity</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor.REV_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html#%3Cinit%3E()">Verbosity()</a></span> - Constructor for enum frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></dt>
<dd>&nbsp;</dd>
</dl>
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<!DOCTYPE HTML>
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<h2 class="title">W</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#wheelBase">wheelBase</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">The Distance between front and back wheels of the robot in meters.</div>
</dd>
</dl>
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View File

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<h2 class="title">Z</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#zeroGyro()">zeroGyro()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Set the current rotation of the gyroscope (pigeonIMU 2) to 0.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#zeroModules()">zeroModules()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Sets the speed to 0 and angle to 0 for all the swerve drive modules.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a></div>
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View File

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<!DOCTYPE HTML>
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<head>
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
<title>C-Index</title>
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<div class="contentContainer"><a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a><a id="I:C">
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<h2 class="title">C</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#checkDirectory(java.io.File)">checkDirectory(File)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Check directory structure.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#checkMain(com.fasterxml.jackson.databind.JsonNode)">checkMain(JsonNode)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Check the main json for correct attributes.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#checkModule(com.fasterxml.jackson.databind.JsonNode)">checkModule(JsonNode)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Check module JSON config for existing values.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#close()">close()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Closes this resource, relinquishing any underlying resources.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#close()">close()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Closes this resource, relinquishing any underlying resources.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html#configure()">configure()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></dt>
<dd>
<div class="block">Configure the absolute encoder if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#configure()">configure()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Configure the absolute encoder if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#configure()">configure()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Configure the absolute encoder if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html#configure()">configure()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></dt>
<dd>
<div class="block">Configure the absolute encoder if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#configure()">configure()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">Configure the absolute encoder if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#configurePigeonIMU()">configurePigeonIMU()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Configure the PigeonIMU with factory default settings and a zeroed gyroscope.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#createEncoder(com.fasterxml.jackson.databind.JsonNode)">createEncoder(JsonNode)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Create SwerveEncoder from JSON config.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#createGyro(com.fasterxml.jackson.databind.JsonNode)">createGyro(JsonNode)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Create the gyro object based off the configuration.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html#createModule(double,double,double,double,double,double,double,double,boolean,boolean)">createModule(double, double, double, double, double, double, double, double, boolean, boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a></dt>
<dd>
<div class="block">Create the swerve module from the configuration.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">createModule(JsonNode, File, SwerveModule.SwerveModuleLocation)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Create SwerveModule from JSON configuration file.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#createModules(double,double,double,double,double,double,double,double,boolean,boolean,frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig%5B%5D)">createModules(double, double, double, double, double, double, double, double, boolean, boolean, SwerveDrive.SwerveModuleConfig&lt;?, ?, ?&gt;[])</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Create swerve drive modules</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#createMotor(com.fasterxml.jackson.databind.JsonNode)">createMotor(JsonNode)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Create the motor controller based off the config.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html#%3Cinit%3E()">CTRE_pidIdx()</a></span> - Constructor for enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html#%3Cinit%3E()">CTRE_remoteSensor()</a></span> - Constructor for enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_remoteSensor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html#%3Cinit%3E()">CTRE_slotIdx()</a></span> - Constructor for enum frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders"><span class="typeNameLink">CTRECANCoder</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/encoders/package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html#%3Cinit%3E(com.ctre.phoenix.sensors.CANCoder)">CTRECANCoder(CANCoder)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></dt>
<dd>
<div class="block">Create SwerveEncoder based off CANCoder.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor</span></a> - Class in <a href="../frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonFX,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">CTRESwerveMotor(TalonFX, SwerveEncoder&lt;?&gt;, SwerveMotor.ModuleMotorType, double, double, double, double)</a></span> - Constructor for class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_pidIdx</span></a> - Enum in <a href="../frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></dt>
<dd>
<div class="block">The TalonSRX PID to use onboard.</div>
</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_remoteSensor</span></a> - Enum in <a href="../frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_slotIdx</span></a> - Enum in <a href="../frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></dt>
<dd>
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
</dd>
</dl>
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<h2 class="title">D</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds(SwerveModuleState2[], double)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds(SwerveModuleState2[], ChassisSpeeds, double, double, double)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveDriveKinematics2</a></dt>
<dd>
<div class="block">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.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#disable()">disable()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Disable the motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html#Distance">Distance</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_slotIdx</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html#drive">drive</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#drive(double,double,double,boolean)">drive(double, double, double, boolean)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Drive swerve based off controller input.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html#DRIVE">DRIVE</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveMotor.ModuleMotorType</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#driveFeedforward">driveFeedforward</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Drive feedforward for PID when driving by velocity.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#driveMotor">driveMotor</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Motor Controllers for drive motor of the swerve module.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#drivePower">drivePower</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Power to drive motor from -1 to 1.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#driveTrainWidth">driveTrainWidth</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">The Distance between centers of right and left wheels in meters.</div>
</dd>
</dl>
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</a>
<h2 class="title">E</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html#encoder">encoder</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive.SwerveModuleConfig</a></dt>
<dd>&nbsp;</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a></div>
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View File

@@ -0,0 +1,195 @@
<!DOCTYPE HTML>
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
<title>F-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-01-29">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
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<main role="main">
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<!-- -->
</a>
<h2 class="title">F</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html#factoryDefault()">factoryDefault()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></dt>
<dd>
<div class="block">Reset encoder to factory default settings, if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#factoryDefault()">factoryDefault()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Reset encoder to factory default settings, if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#factoryDefault()">factoryDefault()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Reset encoder to factory default settings, if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html#factoryDefault()">factoryDefault()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></dt>
<dd>
<div class="block">Reset encoder to factory default settings, if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#factoryDefault()">factoryDefault()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">Reset encoder to factory default settings, if possible.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html#FOURTH_PID">FOURTH_PID</a></span> - frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor.CTRE_pidIdx</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> - package frc.robot.subsystems.swervedrive.swerve</dt>
<dd>&nbsp;</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a> - package frc.robot.subsystems.swervedrive.swerve.encoders</dt>
<dd>&nbsp;</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/kinematics/package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a> - package frc.robot.subsystems.swervedrive.swerve.kinematics</dt>
<dd>&nbsp;</dd>
<dt><a href="../frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a> - package frc.robot.subsystems.swervedrive.swerve.motors</dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#fromEncoder(AbsoluteEncoderType)">fromEncoder(AbsoluteEncoderType)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">Get the SwerveEncoder class from the given encoder types</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html#fromJSONDirectory(java.io.File)">fromJSONDirectory(File)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveParser</a></dt>
<dd>
<div class="block">Create SwerveDrive from JSON configuration directory.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#fromMotor(MotorType,frc.robot.subsystems.swervedrive.swerve.SwerveEncoder,frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType,double,double,double,double)">fromMotor(MotorType, SwerveEncoder&lt;?&gt;, SwerveMotor.ModuleMotorType, double, double, double, double)</a></span> - Static method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Constructor for Swerve Motor, expecting CANSparkMax or TalonFX.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html#FrontLeft">FrontLeft</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html#FrontRight">FrontRight</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a></dt>
<dd>&nbsp;</dd>
</dl>
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View File

@@ -0,0 +1,283 @@
<!DOCTYPE HTML>
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<!-- -->
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<h2 class="title">G</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#get()">get()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#get()">get()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#get()">get()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Common interface for getting the current set speed of a motor controller.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#get()">get()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Get the current value of the encoder corresponding to the PID.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html#getAbsolutePosition()">getAbsolutePosition()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></dt>
<dd>
<div class="block">Get the absolute position in degrees.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#getAbsolutePosition()">getAbsolutePosition()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Get the absolute position in degrees.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#getAbsolutePosition()">getAbsolutePosition()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Get the absolute position in degrees.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html#getAbsolutePosition()">getAbsolutePosition()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></dt>
<dd>
<div class="block">Get the absolute position in degrees.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#getAbsolutePosition()">getAbsolutePosition()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">Get the absolute position in degrees.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#getAmps()">getAmps()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>&nbsp;</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#getAmps()">getAmps()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Get the current output.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#getAmps()">getAmps()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Get the current output.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#getDescription()">getDescription()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Get the description of the robot drive base.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#getInverted()">getInverted()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Common interface for returning if a motor controller is in the inverted state or not.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html#getMagnetFieldStrength()">getMagnetFieldStrength()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></dt>
<dd>
<div class="block">Get the magnetic field strength, if available.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Get the magnetic field strength, if available.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Get the magnetic field strength, if available.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></dt>
<dd>
<div class="block">Get the magnetic field strength, if available.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#getMagnetFieldStrength()">getMagnetFieldStrength()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">Get the magnetic field strength, if available.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#getPose()">getPose()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Get the current Pose, used in autonomous.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html#getPosition()">getPosition()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">CTRESwerveMotor</a></dt>
<dd>
<div class="block">Get the current value of the encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html#getPosition()">getPosition()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.motors.<a href="../frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors">REVSwerveMotor</a></dt>
<dd>
<div class="block">Get the current value of the encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#getPosition()">getPosition()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Get the swerve module position based off the sensors.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html#getPosition()">getPosition()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a></dt>
<dd>
<div class="block">Get the current value of the encoder.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#getPositions()">getPositions()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Get current swerve module positions in order.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#getRotation()">getRotation()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Get the current robot rotation.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#getState()">getState()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Get the module state.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#getStates()">getStates()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Get current swerve module states in order.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#getSwerveModulePosition(frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">getSwerveModulePosition(SwerveModule.SwerveModuleLocation)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Get the swerve module position in <code>Translation2d</code> from the enum passed.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html#getVelocity()">getVelocity()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">CTRECANCoder</a></dt>
<dd>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html#getVelocity()">getVelocity()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMAnalogEncoder</a></dt>
<dd>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html#getVelocity()">getVelocity()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">PWMDutyCycleEncoder</a></dt>
<dd>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html#getVelocity()">getVelocity()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.<a href="../frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders">REVAbsoluteEncoder</a></dt>
<dd>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html#getVelocity()">getVelocity()</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveEncoder</a></dt>
<dd>
<div class="block">Get the velocity of the absolute encoder in degrees per second.</div>
</dd>
</dl>
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<h2 class="title">H</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html#HIGH">HIGH</a></span> - frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.Verbosity</a></dt>
<dd>
<div class="block">Extensively use the CAN bus to fetch data and report back.</div>
</dd>
</dl>
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View File

@@ -0,0 +1,169 @@
<!DOCTYPE HTML>
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
<title>I-Index</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-01-29">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
<link rel="stylesheet" type="text/css" href="../jquery/jquery-ui.css" title="Style">
<script type="text/javascript" src="../script.js"></script>
<script type="text/javascript" src="../jquery/jszip/dist/jszip.min.js"></script>
<script type="text/javascript" src="../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
<!--[if IE]>
<script type="text/javascript" src="../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
<![endif]-->
<script type="text/javascript" src="../jquery/jquery-3.5.1.js"></script>
<script type="text/javascript" src="../jquery/jquery-ui.js"></script>
</head>
<body>
<script type="text/javascript"><!--
try {
if (location.href.indexOf('is-external=true') == -1) {
parent.document.title="I-Index";
}
}
catch(err) {
}
//-->
var pathtoroot = "../";
var useModuleDirectories = true;
loadScripts(document, 'script');</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
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<li><a href="../allclasses.html">All&nbsp;Classes</a></li>
</ul>
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<li><label for="search">SEARCH:</label>
<input type="text" id="search" value="search" disabled="disabled">
<input type="reset" id="reset" value="reset" disabled="disabled">
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<div class="navPadding">&nbsp;</div>
<script type="text/javascript"><!--
$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
//-->
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</nav>
</header>
<main role="main">
<div class="contentContainer"><a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">R</a>&nbsp;<a href="index-17.html">S</a>&nbsp;<a href="index-18.html">T</a>&nbsp;<a href="index-19.html">U</a>&nbsp;<a href="index-20.html">V</a>&nbsp;<a href="index-21.html">W</a>&nbsp;<a href="index-22.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="../allpackages-index.html">All&nbsp;Packages</a><a id="I:I">
<!-- -->
</a>
<h2 class="title">I</h2>
<dl>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable(SendableBuilder)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Initializes this <code>Sendable</code> object.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#initSendable(edu.wpi.first.util.sendable.SendableBuilder)">initSendable(SendableBuilder)</a></span> - Method in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Initializes this <code>Sendable</code> object.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html#instances">instances</a></span> - Static variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></dt>
<dd>
<div class="block">Count of SwerveModule instances created.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#invertedDrive">invertedDrive</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Inverted drive motor.</div>
</dd>
<dt><span class="memberNameLink"><a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html#invertedTurn">invertedTurn</a></span> - Variable in class frc.robot.subsystems.swervedrive.swerve.<a href="../frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a></dt>
<dd>
<div class="block">Inverted turning motor.</div>
</dd>
</dl>
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</ul>
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</body>
</html>

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SwerveLib/index.html Normal file
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<!DOCTYPE HTML>
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
<title>Overview</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-01-29">
<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
<script type="text/javascript" src="script.js"></script>
<script type="text/javascript" src="jquery/jszip/dist/jszip.min.js"></script>
<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils.min.js"></script>
<!--[if IE]>
<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
<![endif]-->
<script type="text/javascript" src="jquery/jquery-3.5.1.js"></script>
<script type="text/javascript" src="jquery/jquery-ui.js"></script>
</head>
<body>
<script type="text/javascript"><!--
try {
if (location.href.indexOf('is-external=true') == -1) {
parent.document.title="Overview";
}
}
catch(err) {
}
//-->
var pathtoroot = "./";
var useModuleDirectories = true;
loadScripts(document, 'script');</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
</noscript>
<header role="banner">
<nav role="navigation">
<div class="fixedNav">
<!-- ========= START OF TOP NAVBAR ======= -->
<div class="topNav"><a id="navbar.top">
<!-- -->
</a>
<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
<a id="navbar.top.firstrow">
<!-- -->
</a>
<ul class="navList" title="Navigation">
<li class="navBarCell1Rev">Overview</li>
<li>Package</li>
<li>Class</li>
<li><a href="overview-tree.html">Tree</a></li>
<li><a href="deprecated-list.html">Deprecated</a></li>
<li><a href="index-files/index-1.html">Index</a></li>
<li><a href="help-doc.html">Help</a></li>
</ul>
</div>
<div class="subNav">
<ul class="navList" id="allclasses_navbar_top">
<li><a href="allclasses.html">All&nbsp;Classes</a></li>
</ul>
<ul class="navListSearch">
<li><label for="search">SEARCH:</label>
<input type="text" id="search" value="search" disabled="disabled">
<input type="reset" id="reset" value="reset" disabled="disabled">
</li>
</ul>
<div>
<script type="text/javascript"><!--
allClassesLink = document.getElementById("allclasses_navbar_top");
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allClassesLink.style.display = "block";
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<div class="navPadding">&nbsp;</div>
<script type="text/javascript"><!--
$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
//-->
</script>
</nav>
</header>
<main role="main">
<div class="contentContainer">
<table class="overviewSummary">
<caption><span>Packages</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Package</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tbody>
<tr class="altColor" id="i0">
<th class="colFirst" scope="row"><a href="frc/robot/subsystems/swervedrive/swerve/package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor" id="i1">
<th class="colFirst" scope="row"><a href="frc/robot/subsystems/swervedrive/swerve/encoders/package-summary.html">frc.robot.subsystems.swervedrive.swerve.encoders</a></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor" id="i2">
<th class="colFirst" scope="row"><a href="frc/robot/subsystems/swervedrive/swerve/kinematics/package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor" id="i3">
<th class="colFirst" scope="row"><a href="frc/robot/subsystems/swervedrive/swerve/motors/package-summary.html">frc.robot.subsystems.swervedrive.swerve.motors</a></th>
<td class="colLast">&nbsp;</td>
</tr>
</tbody>
</table>
</div>
</main>
<footer role="contentinfo">
<nav role="navigation">
<!-- ======= START OF BOTTOM NAVBAR ====== -->
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<ul class="navList" title="Navigation">
<li class="navBarCell1Rev">Overview</li>
<li>Package</li>
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<li><a href="help-doc.html">Help</a></li>
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</nav>
</footer>
</body>
</html>

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SwerveLib/jquery/jquery-ui.css vendored Normal file
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/*! jQuery UI - v1.12.1 - 2018-12-06
* http://jqueryui.com
* Includes: core.css, autocomplete.css, menu.css, theme.css
* To view and modify this theme, visit http://jqueryui.com/themeroller/?scope=&folderName=custom-theme&bgImgOpacityError=95&bgImgOpacityHighlight=55&bgImgOpacityActive=65&bgImgOpacityHover=75&bgImgOpacityDefault=75&bgImgOpacityContent=75&bgImgOpacityHeader=75&cornerRadiusShadow=8px&offsetLeftShadow=-8px&offsetTopShadow=-8px&thicknessShadow=8px&opacityShadow=30&bgImgOpacityShadow=0&bgTextureShadow=flat&bgColorShadow=%23aaaaaa&opacityOverlay=30&bgImgOpacityOverlay=0&bgTextureOverlay=flat&bgColorOverlay=%23aaaaaa&iconColorError=%23cd0a0a&fcError=%23cd0a0a&borderColorError=%23cd0a0a&bgTextureError=glass&bgColorError=%23fef1ec&iconColorHighlight=%232e83ff&fcHighlight=%23363636&borderColorHighlight=%23fcefa1&bgTextureHighlight=glass&bgColorHighlight=%23fbf9ee&iconColorActive=%23454545&fcActive=%23212121&borderColorActive=%23aaaaaa&bgTextureActive=glass&bgColorActive=%23dadada&iconColorHover=%23454545&fcHover=%23212121&borderColorHover=%23999999&bgTextureHover=glass&bgColorHover=%23dadada&iconColorDefault=%23888888&fcDefault=%23555555&borderColorDefault=%23d3d3d3&bgTextureDefault=glass&bgColorDefault=%23e6e6e6&iconColorContent=%23222222&fcContent=%23222222&borderColorContent=%23aaaaaa&bgTextureContent=flat&bgColorContent=%23ffffff&iconColorHeader=%23222222&fcHeader=%23222222&borderColorHeader=%23aaaaaa&bgTextureHeader=highlight_soft&bgColorHeader=%23cccccc&cornerRadius=4px&fwDefault=normal&fsDefault=1.1em&ffDefault=Verdana%2CArial%2Csans-serif
* Copyright jQuery Foundation and other contributors; Licensed MIT */
/* Layout helpers
----------------------------------*/
.ui-helper-hidden {
display: none;
}
.ui-helper-hidden-accessible {
border: 0;
clip: rect(0 0 0 0);
height: 1px;
margin: -1px;
overflow: hidden;
padding: 0;
position: absolute;
width: 1px;
}
.ui-helper-reset {
margin: 0;
padding: 0;
border: 0;
outline: 0;
line-height: 1.3;
text-decoration: none;
font-size: 100%;
list-style: none;
}
.ui-helper-clearfix:before,
.ui-helper-clearfix:after {
content: "";
display: table;
border-collapse: collapse;
}
.ui-helper-clearfix:after {
clear: both;
}
.ui-helper-zfix {
width: 100%;
height: 100%;
top: 0;
left: 0;
position: absolute;
opacity: 0;
filter:Alpha(Opacity=0); /* support: IE8 */
}
.ui-front {
z-index: 100;
}
/* Interaction Cues
----------------------------------*/
.ui-state-disabled {
cursor: default !important;
pointer-events: none;
}
/* Icons
----------------------------------*/
.ui-icon {
display: inline-block;
vertical-align: middle;
margin-top: -.25em;
position: relative;
text-indent: -99999px;
overflow: hidden;
background-repeat: no-repeat;
}
.ui-widget-icon-block {
left: 50%;
margin-left: -8px;
display: block;
}
/* Misc visuals
----------------------------------*/
/* Overlays */
.ui-widget-overlay {
position: fixed;
top: 0;
left: 0;
width: 100%;
height: 100%;
}
.ui-autocomplete {
position: absolute;
top: 0;
left: 0;
cursor: default;
}
.ui-menu {
list-style: none;
padding: 0;
margin: 0;
display: block;
outline: 0;
}
.ui-menu .ui-menu {
position: absolute;
}
.ui-menu .ui-menu-item {
margin: 0;
cursor: pointer;
/* support: IE10, see #8844 */
list-style-image: url("data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7");
}
.ui-menu .ui-menu-item-wrapper {
position: relative;
padding: 3px 1em 3px .4em;
}
.ui-menu .ui-menu-divider {
margin: 5px 0;
height: 0;
font-size: 0;
line-height: 0;
border-width: 1px 0 0 0;
}
.ui-menu .ui-state-focus,
.ui-menu .ui-state-active {
margin: -1px;
}
/* icon support */
.ui-menu-icons {
position: relative;
}
.ui-menu-icons .ui-menu-item-wrapper {
padding-left: 2em;
}
/* left-aligned */
.ui-menu .ui-icon {
position: absolute;
top: 0;
bottom: 0;
left: .2em;
margin: auto 0;
}
/* right-aligned */
.ui-menu .ui-menu-icon {
left: auto;
right: 0;
}
/* Component containers
----------------------------------*/
.ui-widget {
font-family: Verdana,Arial,sans-serif;
font-size: 1.1em;
}
.ui-widget .ui-widget {
font-size: 1em;
}
.ui-widget input,
.ui-widget select,
.ui-widget textarea,
.ui-widget button {
font-family: Verdana,Arial,sans-serif;
font-size: 1em;
}
.ui-widget.ui-widget-content {
border: 1px solid #d3d3d3;
}
.ui-widget-content {
border: 1px solid #aaaaaa;
background: #ffffff;
color: #222222;
}
.ui-widget-content a {
color: #222222;
}
.ui-widget-header {
border: 1px solid #aaaaaa;
background: #cccccc url("images/ui-bg_highlight-soft_75_cccccc_1x100.png") 50% 50% repeat-x;
color: #222222;
font-weight: bold;
}
.ui-widget-header a {
color: #222222;
}
/* Interaction states
----------------------------------*/
.ui-state-default,
.ui-widget-content .ui-state-default,
.ui-widget-header .ui-state-default,
.ui-button,
/* We use html here because we need a greater specificity to make sure disabled
works properly when clicked or hovered */
html .ui-button.ui-state-disabled:hover,
html .ui-button.ui-state-disabled:active {
border: 1px solid #d3d3d3;
background: #e6e6e6 url("images/ui-bg_glass_75_e6e6e6_1x400.png") 50% 50% repeat-x;
font-weight: normal;
color: #555555;
}
.ui-state-default a,
.ui-state-default a:link,
.ui-state-default a:visited,
a.ui-button,
a:link.ui-button,
a:visited.ui-button,
.ui-button {
color: #555555;
text-decoration: none;
}
.ui-state-hover,
.ui-widget-content .ui-state-hover,
.ui-widget-header .ui-state-hover,
.ui-state-focus,
.ui-widget-content .ui-state-focus,
.ui-widget-header .ui-state-focus,
.ui-button:hover,
.ui-button:focus {
border: 1px solid #999999;
background: #dadada url("images/ui-bg_glass_75_dadada_1x400.png") 50% 50% repeat-x;
font-weight: normal;
color: #212121;
}
.ui-state-hover a,
.ui-state-hover a:hover,
.ui-state-hover a:link,
.ui-state-hover a:visited,
.ui-state-focus a,
.ui-state-focus a:hover,
.ui-state-focus a:link,
.ui-state-focus a:visited,
a.ui-button:hover,
a.ui-button:focus {
color: #212121;
text-decoration: none;
}
.ui-visual-focus {
box-shadow: 0 0 3px 1px rgb(94, 158, 214);
}
.ui-state-active,
.ui-widget-content .ui-state-active,
.ui-widget-header .ui-state-active,
a.ui-button:active,
.ui-button:active,
.ui-button.ui-state-active:hover {
border: 1px solid #aaaaaa;
background: #dadada url("images/ui-bg_glass_65_dadada_1x400.png") 50% 50% repeat-x;
font-weight: normal;
color: #212121;
}
.ui-icon-background,
.ui-state-active .ui-icon-background {
border: #aaaaaa;
background-color: #212121;
}
.ui-state-active a,
.ui-state-active a:link,
.ui-state-active a:visited {
color: #212121;
text-decoration: none;
}
/* Interaction Cues
----------------------------------*/
.ui-state-highlight,
.ui-widget-content .ui-state-highlight,
.ui-widget-header .ui-state-highlight {
border: 1px solid #fcefa1;
background: #fbf9ee url("images/ui-bg_glass_55_fbf9ee_1x400.png") 50% 50% repeat-x;
color: #363636;
}
.ui-state-checked {
border: 1px solid #fcefa1;
background: #fbf9ee;
}
.ui-state-highlight a,
.ui-widget-content .ui-state-highlight a,
.ui-widget-header .ui-state-highlight a {
color: #363636;
}
.ui-state-error,
.ui-widget-content .ui-state-error,
.ui-widget-header .ui-state-error {
border: 1px solid #cd0a0a;
background: #fef1ec url("images/ui-bg_glass_95_fef1ec_1x400.png") 50% 50% repeat-x;
color: #cd0a0a;
}
.ui-state-error a,
.ui-widget-content .ui-state-error a,
.ui-widget-header .ui-state-error a {
color: #cd0a0a;
}
.ui-state-error-text,
.ui-widget-content .ui-state-error-text,
.ui-widget-header .ui-state-error-text {
color: #cd0a0a;
}
.ui-priority-primary,
.ui-widget-content .ui-priority-primary,
.ui-widget-header .ui-priority-primary {
font-weight: bold;
}
.ui-priority-secondary,
.ui-widget-content .ui-priority-secondary,
.ui-widget-header .ui-priority-secondary {
opacity: .7;
filter:Alpha(Opacity=70); /* support: IE8 */
font-weight: normal;
}
.ui-state-disabled,
.ui-widget-content .ui-state-disabled,
.ui-widget-header .ui-state-disabled {
opacity: .35;
filter:Alpha(Opacity=35); /* support: IE8 */
background-image: none;
}
.ui-state-disabled .ui-icon {
filter:Alpha(Opacity=35); /* support: IE8 - See #6059 */
}
/* Icons
----------------------------------*/
/* states and images */
.ui-icon {
width: 16px;
height: 16px;
}
.ui-icon,
.ui-widget-content .ui-icon {
background-image: url("images/ui-icons_222222_256x240.png");
}
.ui-widget-header .ui-icon {
background-image: url("images/ui-icons_222222_256x240.png");
}
.ui-state-hover .ui-icon,
.ui-state-focus .ui-icon,
.ui-button:hover .ui-icon,
.ui-button:focus .ui-icon {
background-image: url("images/ui-icons_454545_256x240.png");
}
.ui-state-active .ui-icon,
.ui-button:active .ui-icon {
background-image: url("images/ui-icons_454545_256x240.png");
}
.ui-state-highlight .ui-icon,
.ui-button .ui-state-highlight.ui-icon {
background-image: url("images/ui-icons_2e83ff_256x240.png");
}
.ui-state-error .ui-icon,
.ui-state-error-text .ui-icon {
background-image: url("images/ui-icons_cd0a0a_256x240.png");
}
.ui-button .ui-icon {
background-image: url("images/ui-icons_888888_256x240.png");
}
/* positioning */
.ui-icon-blank { background-position: 16px 16px; }
.ui-icon-caret-1-n { background-position: 0 0; }
.ui-icon-caret-1-ne { background-position: -16px 0; }
.ui-icon-caret-1-e { background-position: -32px 0; }
.ui-icon-caret-1-se { background-position: -48px 0; }
.ui-icon-caret-1-s { background-position: -65px 0; }
.ui-icon-caret-1-sw { background-position: -80px 0; }
.ui-icon-caret-1-w { background-position: -96px 0; }
.ui-icon-caret-1-nw { background-position: -112px 0; }
.ui-icon-caret-2-n-s { background-position: -128px 0; }
.ui-icon-caret-2-e-w { background-position: -144px 0; }
.ui-icon-triangle-1-n { background-position: 0 -16px; }
.ui-icon-triangle-1-ne { background-position: -16px -16px; }
.ui-icon-triangle-1-e { background-position: -32px -16px; }
.ui-icon-triangle-1-se { background-position: -48px -16px; }
.ui-icon-triangle-1-s { background-position: -65px -16px; }
.ui-icon-triangle-1-sw { background-position: -80px -16px; }
.ui-icon-triangle-1-w { background-position: -96px -16px; }
.ui-icon-triangle-1-nw { background-position: -112px -16px; }
.ui-icon-triangle-2-n-s { background-position: -128px -16px; }
.ui-icon-triangle-2-e-w { background-position: -144px -16px; }
.ui-icon-arrow-1-n { background-position: 0 -32px; }
.ui-icon-arrow-1-ne { background-position: -16px -32px; }
.ui-icon-arrow-1-e { background-position: -32px -32px; }
.ui-icon-arrow-1-se { background-position: -48px -32px; }
.ui-icon-arrow-1-s { background-position: -65px -32px; }
.ui-icon-arrow-1-sw { background-position: -80px -32px; }
.ui-icon-arrow-1-w { background-position: -96px -32px; }
.ui-icon-arrow-1-nw { background-position: -112px -32px; }
.ui-icon-arrow-2-n-s { background-position: -128px -32px; }
.ui-icon-arrow-2-ne-sw { background-position: -144px -32px; }
.ui-icon-arrow-2-e-w { background-position: -160px -32px; }
.ui-icon-arrow-2-se-nw { background-position: -176px -32px; }
.ui-icon-arrowstop-1-n { background-position: -192px -32px; }
.ui-icon-arrowstop-1-e { background-position: -208px -32px; }
.ui-icon-arrowstop-1-s { background-position: -224px -32px; }
.ui-icon-arrowstop-1-w { background-position: -240px -32px; }
.ui-icon-arrowthick-1-n { background-position: 1px -48px; }
.ui-icon-arrowthick-1-ne { background-position: -16px -48px; }
.ui-icon-arrowthick-1-e { background-position: -32px -48px; }
.ui-icon-arrowthick-1-se { background-position: -48px -48px; }
.ui-icon-arrowthick-1-s { background-position: -64px -48px; }
.ui-icon-arrowthick-1-sw { background-position: -80px -48px; }
.ui-icon-arrowthick-1-w { background-position: -96px -48px; }
.ui-icon-arrowthick-1-nw { background-position: -112px -48px; }
.ui-icon-arrowthick-2-n-s { background-position: -128px -48px; }
.ui-icon-arrowthick-2-ne-sw { background-position: -144px -48px; }
.ui-icon-arrowthick-2-e-w { background-position: -160px -48px; }
.ui-icon-arrowthick-2-se-nw { background-position: -176px -48px; }
.ui-icon-arrowthickstop-1-n { background-position: -192px -48px; }
.ui-icon-arrowthickstop-1-e { background-position: -208px -48px; }
.ui-icon-arrowthickstop-1-s { background-position: -224px -48px; }
.ui-icon-arrowthickstop-1-w { background-position: -240px -48px; }
.ui-icon-arrowreturnthick-1-w { background-position: 0 -64px; }
.ui-icon-arrowreturnthick-1-n { background-position: -16px -64px; }
.ui-icon-arrowreturnthick-1-e { background-position: -32px -64px; }
.ui-icon-arrowreturnthick-1-s { background-position: -48px -64px; }
.ui-icon-arrowreturn-1-w { background-position: -64px -64px; }
.ui-icon-arrowreturn-1-n { background-position: -80px -64px; }
.ui-icon-arrowreturn-1-e { background-position: -96px -64px; }
.ui-icon-arrowreturn-1-s { background-position: -112px -64px; }
.ui-icon-arrowrefresh-1-w { background-position: -128px -64px; }
.ui-icon-arrowrefresh-1-n { background-position: -144px -64px; }
.ui-icon-arrowrefresh-1-e { background-position: -160px -64px; }
.ui-icon-arrowrefresh-1-s { background-position: -176px -64px; }
.ui-icon-arrow-4 { background-position: 0 -80px; }
.ui-icon-arrow-4-diag { background-position: -16px -80px; }
.ui-icon-extlink { background-position: -32px -80px; }
.ui-icon-newwin { background-position: -48px -80px; }
.ui-icon-refresh { background-position: -64px -80px; }
.ui-icon-shuffle { background-position: -80px -80px; }
.ui-icon-transfer-e-w { background-position: -96px -80px; }
.ui-icon-transferthick-e-w { background-position: -112px -80px; }
.ui-icon-folder-collapsed { background-position: 0 -96px; }
.ui-icon-folder-open { background-position: -16px -96px; }
.ui-icon-document { background-position: -32px -96px; }
.ui-icon-document-b { background-position: -48px -96px; }
.ui-icon-note { background-position: -64px -96px; }
.ui-icon-mail-closed { background-position: -80px -96px; }
.ui-icon-mail-open { background-position: -96px -96px; }
.ui-icon-suitcase { background-position: -112px -96px; }
.ui-icon-comment { background-position: -128px -96px; }
.ui-icon-person { background-position: -144px -96px; }
.ui-icon-print { background-position: -160px -96px; }
.ui-icon-trash { background-position: -176px -96px; }
.ui-icon-locked { background-position: -192px -96px; }
.ui-icon-unlocked { background-position: -208px -96px; }
.ui-icon-bookmark { background-position: -224px -96px; }
.ui-icon-tag { background-position: -240px -96px; }
.ui-icon-home { background-position: 0 -112px; }
.ui-icon-flag { background-position: -16px -112px; }
.ui-icon-calendar { background-position: -32px -112px; }
.ui-icon-cart { background-position: -48px -112px; }
.ui-icon-pencil { background-position: -64px -112px; }
.ui-icon-clock { background-position: -80px -112px; }
.ui-icon-disk { background-position: -96px -112px; }
.ui-icon-calculator { background-position: -112px -112px; }
.ui-icon-zoomin { background-position: -128px -112px; }
.ui-icon-zoomout { background-position: -144px -112px; }
.ui-icon-search { background-position: -160px -112px; }
.ui-icon-wrench { background-position: -176px -112px; }
.ui-icon-gear { background-position: -192px -112px; }
.ui-icon-heart { background-position: -208px -112px; }
.ui-icon-star { background-position: -224px -112px; }
.ui-icon-link { background-position: -240px -112px; }
.ui-icon-cancel { background-position: 0 -128px; }
.ui-icon-plus { background-position: -16px -128px; }
.ui-icon-plusthick { background-position: -32px -128px; }
.ui-icon-minus { background-position: -48px -128px; }
.ui-icon-minusthick { background-position: -64px -128px; }
.ui-icon-close { background-position: -80px -128px; }
.ui-icon-closethick { background-position: -96px -128px; }
.ui-icon-key { background-position: -112px -128px; }
.ui-icon-lightbulb { background-position: -128px -128px; }
.ui-icon-scissors { background-position: -144px -128px; }
.ui-icon-clipboard { background-position: -160px -128px; }
.ui-icon-copy { background-position: -176px -128px; }
.ui-icon-contact { background-position: -192px -128px; }
.ui-icon-image { background-position: -208px -128px; }
.ui-icon-video { background-position: -224px -128px; }
.ui-icon-script { background-position: -240px -128px; }
.ui-icon-alert { background-position: 0 -144px; }
.ui-icon-info { background-position: -16px -144px; }
.ui-icon-notice { background-position: -32px -144px; }
.ui-icon-help { background-position: -48px -144px; }
.ui-icon-check { background-position: -64px -144px; }
.ui-icon-bullet { background-position: -80px -144px; }
.ui-icon-radio-on { background-position: -96px -144px; }
.ui-icon-radio-off { background-position: -112px -144px; }
.ui-icon-pin-w { background-position: -128px -144px; }
.ui-icon-pin-s { background-position: -144px -144px; }
.ui-icon-play { background-position: 0 -160px; }
.ui-icon-pause { background-position: -16px -160px; }
.ui-icon-seek-next { background-position: -32px -160px; }
.ui-icon-seek-prev { background-position: -48px -160px; }
.ui-icon-seek-end { background-position: -64px -160px; }
.ui-icon-seek-start { background-position: -80px -160px; }
/* ui-icon-seek-first is deprecated, use ui-icon-seek-start instead */
.ui-icon-seek-first { background-position: -80px -160px; }
.ui-icon-stop { background-position: -96px -160px; }
.ui-icon-eject { background-position: -112px -160px; }
.ui-icon-volume-off { background-position: -128px -160px; }
.ui-icon-volume-on { background-position: -144px -160px; }
.ui-icon-power { background-position: 0 -176px; }
.ui-icon-signal-diag { background-position: -16px -176px; }
.ui-icon-signal { background-position: -32px -176px; }
.ui-icon-battery-0 { background-position: -48px -176px; }
.ui-icon-battery-1 { background-position: -64px -176px; }
.ui-icon-battery-2 { background-position: -80px -176px; }
.ui-icon-battery-3 { background-position: -96px -176px; }
.ui-icon-circle-plus { background-position: 0 -192px; }
.ui-icon-circle-minus { background-position: -16px -192px; }
.ui-icon-circle-close { background-position: -32px -192px; }
.ui-icon-circle-triangle-e { background-position: -48px -192px; }
.ui-icon-circle-triangle-s { background-position: -64px -192px; }
.ui-icon-circle-triangle-w { background-position: -80px -192px; }
.ui-icon-circle-triangle-n { background-position: -96px -192px; }
.ui-icon-circle-arrow-e { background-position: -112px -192px; }
.ui-icon-circle-arrow-s { background-position: -128px -192px; }
.ui-icon-circle-arrow-w { background-position: -144px -192px; }
.ui-icon-circle-arrow-n { background-position: -160px -192px; }
.ui-icon-circle-zoomin { background-position: -176px -192px; }
.ui-icon-circle-zoomout { background-position: -192px -192px; }
.ui-icon-circle-check { background-position: -208px -192px; }
.ui-icon-circlesmall-plus { background-position: 0 -208px; }
.ui-icon-circlesmall-minus { background-position: -16px -208px; }
.ui-icon-circlesmall-close { background-position: -32px -208px; }
.ui-icon-squaresmall-plus { background-position: -48px -208px; }
.ui-icon-squaresmall-minus { background-position: -64px -208px; }
.ui-icon-squaresmall-close { background-position: -80px -208px; }
.ui-icon-grip-dotted-vertical { background-position: 0 -224px; }
.ui-icon-grip-dotted-horizontal { background-position: -16px -224px; }
.ui-icon-grip-solid-vertical { background-position: -32px -224px; }
.ui-icon-grip-solid-horizontal { background-position: -48px -224px; }
.ui-icon-gripsmall-diagonal-se { background-position: -64px -224px; }
.ui-icon-grip-diagonal-se { background-position: -80px -224px; }
/* Misc visuals
----------------------------------*/
/* Corner radius */
.ui-corner-all,
.ui-corner-top,
.ui-corner-left,
.ui-corner-tl {
border-top-left-radius: 4px;
}
.ui-corner-all,
.ui-corner-top,
.ui-corner-right,
.ui-corner-tr {
border-top-right-radius: 4px;
}
.ui-corner-all,
.ui-corner-bottom,
.ui-corner-left,
.ui-corner-bl {
border-bottom-left-radius: 4px;
}
.ui-corner-all,
.ui-corner-bottom,
.ui-corner-right,
.ui-corner-br {
border-bottom-right-radius: 4px;
}
/* Overlays */
.ui-widget-overlay {
background: #aaaaaa;
opacity: .3;
filter: Alpha(Opacity=30); /* support: IE8 */
}
.ui-widget-shadow {
-webkit-box-shadow: -8px -8px 8px #aaaaaa;
box-shadow: -8px -8px 8px #aaaaaa;
}

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/*!
* jQuery UI CSS Framework 1.12.1
* http://jqueryui.com
*
* Copyright jQuery Foundation and other contributors
* Released under the MIT license.
* http://jquery.org/license
*
* http://api.jqueryui.com/category/theming/
*/
/* Layout helpers
----------------------------------*/
.ui-helper-hidden {
display: none;
}
.ui-helper-hidden-accessible {
border: 0;
clip: rect(0 0 0 0);
height: 1px;
margin: -1px;
overflow: hidden;
padding: 0;
position: absolute;
width: 1px;
}
.ui-helper-reset {
margin: 0;
padding: 0;
border: 0;
outline: 0;
line-height: 1.3;
text-decoration: none;
font-size: 100%;
list-style: none;
}
.ui-helper-clearfix:before,
.ui-helper-clearfix:after {
content: "";
display: table;
border-collapse: collapse;
}
.ui-helper-clearfix:after {
clear: both;
}
.ui-helper-zfix {
width: 100%;
height: 100%;
top: 0;
left: 0;
position: absolute;
opacity: 0;
filter:Alpha(Opacity=0); /* support: IE8 */
}
.ui-front {
z-index: 100;
}
/* Interaction Cues
----------------------------------*/
.ui-state-disabled {
cursor: default !important;
pointer-events: none;
}
/* Icons
----------------------------------*/
.ui-icon {
display: inline-block;
vertical-align: middle;
margin-top: -.25em;
position: relative;
text-indent: -99999px;
overflow: hidden;
background-repeat: no-repeat;
}
.ui-widget-icon-block {
left: 50%;
margin-left: -8px;
display: block;
}
/* Misc visuals
----------------------------------*/
/* Overlays */
.ui-widget-overlay {
position: fixed;
top: 0;
left: 0;
width: 100%;
height: 100%;
}
.ui-autocomplete {
position: absolute;
top: 0;
left: 0;
cursor: default;
}
.ui-menu {
list-style: none;
padding: 0;
margin: 0;
display: block;
outline: 0;
}
.ui-menu .ui-menu {
position: absolute;
}
.ui-menu .ui-menu-item {
margin: 0;
cursor: pointer;
/* support: IE10, see #8844 */
list-style-image: url("data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7");
}
.ui-menu .ui-menu-item-wrapper {
position: relative;
padding: 3px 1em 3px .4em;
}
.ui-menu .ui-menu-divider {
margin: 5px 0;
height: 0;
font-size: 0;
line-height: 0;
border-width: 1px 0 0 0;
}
.ui-menu .ui-state-focus,
.ui-menu .ui-state-active {
margin: -1px;
}
/* icon support */
.ui-menu-icons {
position: relative;
}
.ui-menu-icons .ui-menu-item-wrapper {
padding-left: 2em;
}
/* left-aligned */
.ui-menu .ui-icon {
position: absolute;
top: 0;
bottom: 0;
left: .2em;
margin: auto 0;
}
/* right-aligned */
.ui-menu .ui-menu-icon {
left: auto;
right: 0;
}

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/*! jQuery UI - v1.12.1 - 2018-12-06
* http://jqueryui.com
* Copyright jQuery Foundation and other contributors; Licensed MIT */
.ui-helper-hidden{display:none}.ui-helper-hidden-accessible{border:0;clip:rect(0 0 0 0);height:1px;margin:-1px;overflow:hidden;padding:0;position:absolute;width:1px}.ui-helper-reset{margin:0;padding:0;border:0;outline:0;line-height:1.3;text-decoration:none;font-size:100%;list-style:none}.ui-helper-clearfix:before,.ui-helper-clearfix:after{content:"";display:table;border-collapse:collapse}.ui-helper-clearfix:after{clear:both}.ui-helper-zfix{width:100%;height:100%;top:0;left:0;position:absolute;opacity:0;filter:Alpha(Opacity=0)}.ui-front{z-index:100}.ui-state-disabled{cursor:default!important;pointer-events:none}.ui-icon{display:inline-block;vertical-align:middle;margin-top:-.25em;position:relative;text-indent:-99999px;overflow:hidden;background-repeat:no-repeat}.ui-widget-icon-block{left:50%;margin-left:-8px;display:block}.ui-widget-overlay{position:fixed;top:0;left:0;width:100%;height:100%}.ui-autocomplete{position:absolute;top:0;left:0;cursor:default}.ui-menu{list-style:none;padding:0;margin:0;display:block;outline:0}.ui-menu .ui-menu{position:absolute}.ui-menu .ui-menu-item{margin:0;cursor:pointer;list-style-image:url("data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7")}.ui-menu .ui-menu-item-wrapper{position:relative;padding:3px 1em 3px .4em}.ui-menu .ui-menu-divider{margin:5px 0;height:0;font-size:0;line-height:0;border-width:1px 0 0 0}.ui-menu .ui-state-focus,.ui-menu .ui-state-active{margin:-1px}.ui-menu-icons{position:relative}.ui-menu-icons .ui-menu-item-wrapper{padding-left:2em}.ui-menu .ui-icon{position:absolute;top:0;bottom:0;left:.2em;margin:auto 0}.ui-menu .ui-menu-icon{left:auto;right:0}

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/*!
JSZipUtils - A collection of cross-browser utilities to go along with JSZip.
<http://stuk.github.io/jszip-utils>
(c) 2014 Stuart Knightley, David Duponchel
Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown.
*/
;(function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);throw new Error("Cannot find module '"+o+"'")}var f=n[o]={exports:{}};t[o][0].call(f.exports,function(e){var n=t[o][1][e];return s(n?n:e)},f,f.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
var global=typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {};/* jshint evil: true, newcap: false */
/* global IEBinaryToArray_ByteStr, IEBinaryToArray_ByteStr_Last */
"use strict";
// Adapted from http://stackoverflow.com/questions/1095102/how-do-i-load-binary-image-data-using-javascript-and-xmlhttprequest
var IEBinaryToArray_ByteStr_Script =
"<!-- IEBinaryToArray_ByteStr -->\r\n"+
"<script type='text/vbscript'>\r\n"+
"Function IEBinaryToArray_ByteStr(Binary)\r\n"+
" IEBinaryToArray_ByteStr = CStr(Binary)\r\n"+
"End Function\r\n"+
"Function IEBinaryToArray_ByteStr_Last(Binary)\r\n"+
" Dim lastIndex\r\n"+
" lastIndex = LenB(Binary)\r\n"+
" if lastIndex mod 2 Then\r\n"+
" IEBinaryToArray_ByteStr_Last = Chr( AscB( MidB( Binary, lastIndex, 1 ) ) )\r\n"+
" Else\r\n"+
" IEBinaryToArray_ByteStr_Last = "+'""'+"\r\n"+
" End If\r\n"+
"End Function\r\n"+
"</script>\r\n";
// inject VBScript
document.write(IEBinaryToArray_ByteStr_Script);
global.JSZipUtils._getBinaryFromXHR = function (xhr) {
var binary = xhr.responseBody;
var byteMapping = {};
for ( var i = 0; i < 256; i++ ) {
for ( var j = 0; j < 256; j++ ) {
byteMapping[ String.fromCharCode( i + (j << 8) ) ] =
String.fromCharCode(i) + String.fromCharCode(j);
}
}
var rawBytes = IEBinaryToArray_ByteStr(binary);
var lastChr = IEBinaryToArray_ByteStr_Last(binary);
return rawBytes.replace(/[\s\S]/g, function( match ) {
return byteMapping[match];
}) + lastChr;
};
// enforcing Stuk's coding style
// vim: set shiftwidth=4 softtabstop=4:
},{}]},{},[1])
;

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/*!
JSZipUtils - A collection of cross-browser utilities to go along with JSZip.
<http://stuk.github.io/jszip-utils>
(c) 2014 Stuart Knightley, David Duponchel
Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown.
*/
!function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g<d.length;g++)e(d[g]);return e}({1:[function(){var a="undefined"!=typeof self?self:"undefined"!=typeof window?window:{},b="<!-- IEBinaryToArray_ByteStr -->\r\n<script type='text/vbscript'>\r\nFunction IEBinaryToArray_ByteStr(Binary)\r\n IEBinaryToArray_ByteStr = CStr(Binary)\r\nEnd Function\r\nFunction IEBinaryToArray_ByteStr_Last(Binary)\r\n Dim lastIndex\r\n lastIndex = LenB(Binary)\r\n if lastIndex mod 2 Then\r\n IEBinaryToArray_ByteStr_Last = Chr( AscB( MidB( Binary, lastIndex, 1 ) ) )\r\n Else\r\n IEBinaryToArray_ByteStr_Last = \"\"\r\n End If\r\nEnd Function\r\n</script>\r\n";document.write(b),a.JSZipUtils._getBinaryFromXHR=function(a){for(var b=a.responseBody,c={},d=0;256>d;d++)for(var e=0;256>e;e++)c[String.fromCharCode(d+(e<<8))]=String.fromCharCode(d)+String.fromCharCode(e);var f=IEBinaryToArray_ByteStr(b),g=IEBinaryToArray_ByteStr_Last(b);return f.replace(/[\s\S]/g,function(a){return c[a]})+g}},{}]},{},[1]);

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/*!
JSZipUtils - A collection of cross-browser utilities to go along with JSZip.
<http://stuk.github.io/jszip-utils>
(c) 2014 Stuart Knightley, David Duponchel
Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown.
*/
!function(e){"object"==typeof exports?module.exports=e():"function"==typeof define&&define.amd?define(e):"undefined"!=typeof window?window.JSZipUtils=e():"undefined"!=typeof global?global.JSZipUtils=e():"undefined"!=typeof self&&(self.JSZipUtils=e())}(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);throw new Error("Cannot find module '"+o+"'")}var f=n[o]={exports:{}};t[o][0].call(f.exports,function(e){var n=t[o][1][e];return s(n?n:e)},f,f.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
'use strict';
var JSZipUtils = {};
// just use the responseText with xhr1, response with xhr2.
// The transformation doesn't throw away high-order byte (with responseText)
// because JSZip handles that case. If not used with JSZip, you may need to
// do it, see https://developer.mozilla.org/En/Using_XMLHttpRequest#Handling_binary_data
JSZipUtils._getBinaryFromXHR = function (xhr) {
// for xhr.responseText, the 0xFF mask is applied by JSZip
return xhr.response || xhr.responseText;
};
// taken from jQuery
function createStandardXHR() {
try {
return new window.XMLHttpRequest();
} catch( e ) {}
}
function createActiveXHR() {
try {
return new window.ActiveXObject("Microsoft.XMLHTTP");
} catch( e ) {}
}
// Create the request object
var createXHR = window.ActiveXObject ?
/* Microsoft failed to properly
* implement the XMLHttpRequest in IE7 (can't request local files),
* so we use the ActiveXObject when it is available
* Additionally XMLHttpRequest can be disabled in IE7/IE8 so
* we need a fallback.
*/
function() {
return createStandardXHR() || createActiveXHR();
} :
// For all other browsers, use the standard XMLHttpRequest object
createStandardXHR;
JSZipUtils.getBinaryContent = function(path, callback) {
/*
* Here is the tricky part : getting the data.
* In firefox/chrome/opera/... setting the mimeType to 'text/plain; charset=x-user-defined'
* is enough, the result is in the standard xhr.responseText.
* cf https://developer.mozilla.org/En/XMLHttpRequest/Using_XMLHttpRequest#Receiving_binary_data_in_older_browsers
* In IE <= 9, we must use (the IE only) attribute responseBody
* (for binary data, its content is different from responseText).
* In IE 10, the 'charset=x-user-defined' trick doesn't work, only the
* responseType will work :
* http://msdn.microsoft.com/en-us/library/ie/hh673569%28v=vs.85%29.aspx#Binary_Object_upload_and_download
*
* I'd like to use jQuery to avoid this XHR madness, but it doesn't support
* the responseType attribute : http://bugs.jquery.com/ticket/11461
*/
try {
var xhr = createXHR();
xhr.open('GET', path, true);
// recent browsers
if ("responseType" in xhr) {
xhr.responseType = "arraybuffer";
}
// older browser
if(xhr.overrideMimeType) {
xhr.overrideMimeType("text/plain; charset=x-user-defined");
}
xhr.onreadystatechange = function(evt) {
var file, err;
// use `xhr` and not `this`... thanks IE
if (xhr.readyState === 4) {
if (xhr.status === 200 || xhr.status === 0) {
file = null;
err = null;
try {
file = JSZipUtils._getBinaryFromXHR(xhr);
} catch(e) {
err = new Error(e);
}
callback(err, file);
} else {
callback(new Error("Ajax error for " + path + " : " + this.status + " " + this.statusText), null);
}
}
};
xhr.send();
} catch (e) {
callback(new Error(e), null);
}
};
// export
module.exports = JSZipUtils;
// enforcing Stuk's coding style
// vim: set shiftwidth=4 softtabstop=4:
},{}]},{},[1])
(1)
});
;

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/*!
JSZipUtils - A collection of cross-browser utilities to go along with JSZip.
<http://stuk.github.io/jszip-utils>
(c) 2014 Stuart Knightley, David Duponchel
Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown.
*/
!function(a){"object"==typeof exports?module.exports=a():"function"==typeof define&&define.amd?define(a):"undefined"!=typeof window?window.JSZipUtils=a():"undefined"!=typeof global?global.JSZipUtils=a():"undefined"!=typeof self&&(self.JSZipUtils=a())}(function(){return function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g<d.length;g++)e(d[g]);return e}({1:[function(a,b){"use strict";function c(){try{return new window.XMLHttpRequest}catch(a){}}function d(){try{return new window.ActiveXObject("Microsoft.XMLHTTP")}catch(a){}}var e={};e._getBinaryFromXHR=function(a){return a.response||a.responseText};var f=window.ActiveXObject?function(){return c()||d()}:c;e.getBinaryContent=function(a,b){try{var c=f();c.open("GET",a,!0),"responseType"in c&&(c.responseType="arraybuffer"),c.overrideMimeType&&c.overrideMimeType("text/plain; charset=x-user-defined"),c.onreadystatechange=function(){var d,f;if(4===c.readyState)if(200===c.status||0===c.status){d=null,f=null;try{d=e._getBinaryFromXHR(c)}catch(g){f=new Error(g)}b(f,d)}else b(new Error("Ajax error for "+a+" : "+this.status+" "+this.statusText),null)},c.send()}catch(d){b(new Error(d),null)}},b.exports=e},{}]},{},[1])(1)});

11367
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<!DOCTYPE HTML>
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
<title>Generated Documentation (Untitled)</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<script type="text/javascript">window.location.replace('index.html')</script>
<noscript>
<meta http-equiv="Refresh" content="0;index.html">
</noscript>
<link rel="canonical" href="index.html">
<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
</head>
<body>
<main role="main">
<noscript>
<p>JavaScript is disabled on your browser.</p>
</noscript>
<p><a href="index.html">index.html</a></p>
</main>
</body>
</html>

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<!DOCTYPE HTML>
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.13) on Sun Jan 29 15:36:03 CST 2023 -->
<title>Class Hierarchy</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-01-29">
<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
<script type="text/javascript" src="script.js"></script>
<script type="text/javascript" src="jquery/jszip/dist/jszip.min.js"></script>
<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils.min.js"></script>
<!--[if IE]>
<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
<![endif]-->
<script type="text/javascript" src="jquery/jquery-3.5.1.js"></script>
<script type="text/javascript" src="jquery/jquery-ui.js"></script>
</head>
<body>
<script type="text/javascript"><!--
try {
if (location.href.indexOf('is-external=true') == -1) {
parent.document.title="Class Hierarchy";
}
}
catch(err) {
}
//-->
var pathtoroot = "./";
var useModuleDirectories = true;
loadScripts(document, 'script');</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
</noscript>
<header role="banner">
<nav role="navigation">
<div class="fixedNav">
<!-- ========= START OF TOP NAVBAR ======= -->
<div class="topNav"><a id="navbar.top">
<!-- -->
</a>
<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
<a id="navbar.top.firstrow">
<!-- -->
</a>
<ul class="navList" title="Navigation">
<li><a href="index.html">Overview</a></li>
<li>Package</li>
<li>Class</li>
<li class="navBarCell1Rev">Tree</li>
<li><a href="deprecated-list.html">Deprecated</a></li>
<li><a href="index-files/index-1.html">Index</a></li>
<li><a href="help-doc.html">Help</a></li>
</ul>
</div>
<div class="subNav">
<ul class="navList" id="allclasses_navbar_top">
<li><a href="allclasses.html">All&nbsp;Classes</a></li>
</ul>
<ul class="navListSearch">
<li><label for="search">SEARCH:</label>
<input type="text" id="search" value="search" disabled="disabled">
<input type="reset" id="reset" value="reset" disabled="disabled">
</li>
</ul>
<div>
<script type="text/javascript"><!--
allClassesLink = document.getElementById("allclasses_navbar_top");
if(window==top) {
allClassesLink.style.display = "block";
}
else {
allClassesLink.style.display = "none";
}
//-->
</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
</noscript>
</div>
<a id="skip.navbar.top">
<!-- -->
</a></div>
<!-- ========= END OF TOP NAVBAR ========= -->
</div>
<div class="navPadding">&nbsp;</div>
<script type="text/javascript"><!--
$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
//-->
</script>
</nav>
</header>
<main role="main">
<div class="header">
<h1 class="title">Hierarchy For All Packages</h1>
<span class="packageHierarchyLabel">Package Hierarchies:</span>
<ul class="horizontal">
<li><a href="frc/robot/subsystems/swervedrive/swerve/package-tree.html">frc.robot.subsystems.swervedrive.swerve</a>, </li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/encoders/package-tree.html">frc.robot.subsystems.swervedrive.swerve.encoders</a>, </li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/kinematics/package-tree.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a>, </li>
<li><a href="frc/robot/subsystems/swervedrive/swerve/motors/package-tree.html">frc.robot.subsystems.swervedrive.swerve.motors</a></li>
</ul>
</div>
<div class="contentContainer">
<section role="region">
<h2 title="Class Hierarchy">Class Hierarchy</h2>
<ul>
<li class="circle">java.lang.Object
<ul>
<li class="circle">edu.wpi.first.wpilibj.MotorSafety
<ul>
<li class="circle">edu.wpi.first.wpilibj.drive.RobotDriveBase
<ul>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="frc/robot/subsystems/swervedrive/swerve/SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveDrive</span></a> (implements java.lang.AutoCloseable, edu.wpi.first.util.sendable.Sendable)</li>
</ul>
</li>
</ul>
</li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="frc/robot/subsystems/swervedrive/swerve/SwerveDrive.SwerveModuleConfig.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveDrive.SwerveModuleConfig</span></a>&lt;DriveMotorType,&#8203;SteeringMotorType,&#8203;AbsoluteEncoder&gt;</li>
<li class="circle">edu.wpi.first.math.kinematics.SwerveDriveKinematics
<ul>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveDriveKinematics2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics"><span class="typeNameLink">SwerveDriveKinematics2</span></a></li>
</ul>
</li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="frc/robot/subsystems/swervedrive/swerve/SwerveEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveEncoder</span></a>&lt;AbsoluteEncoderType&gt;
<ul>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.encoders.<a href="frc/robot/subsystems/swervedrive/swerve/encoders/CTRECANCoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders"><span class="typeNameLink">CTRECANCoder</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.encoders.<a href="frc/robot/subsystems/swervedrive/swerve/encoders/PWMAnalogEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders"><span class="typeNameLink">PWMAnalogEncoder</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.encoders.<a href="frc/robot/subsystems/swervedrive/swerve/encoders/PWMDutyCycleEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders"><span class="typeNameLink">PWMDutyCycleEncoder</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.encoders.<a href="frc/robot/subsystems/swervedrive/swerve/encoders/REVAbsoluteEncoder.html" title="class in frc.robot.subsystems.swervedrive.swerve.encoders"><span class="typeNameLink">REVAbsoluteEncoder</span></a></li>
</ul>
</li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveModule</span></a>&lt;DriveMotorType,&#8203;AngleMotorType,&#8203;AbsoluteEncoderType&gt; (implements java.lang.AutoCloseable, edu.wpi.first.wpilibj.motorcontrol.MotorController, edu.wpi.first.util.sendable.Sendable)</li>
<li class="circle">edu.wpi.first.math.kinematics.SwerveModuleState (implements java.lang.Comparable&lt;T&gt;)
<ul>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.kinematics.<a href="frc/robot/subsystems/swervedrive/swerve/kinematics/SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics"><span class="typeNameLink">SwerveModuleState2</span></a></li>
</ul>
</li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="frc/robot/subsystems/swervedrive/swerve/SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveMotor</span></a>
<ul>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">REVSwerveMotor</span></a></li>
</ul>
</li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="frc/robot/subsystems/swervedrive/swerve/SwerveParser.html" title="class in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveParser</span></a></li>
</ul>
</li>
</ul>
</section>
<section role="region">
<h2 title="Enum Hierarchy">Enum Hierarchy</h2>
<ul>
<li class="circle">java.lang.Object
<ul>
<li class="circle">java.lang.Enum&lt;E&gt; (implements java.lang.Comparable&lt;T&gt;, java.io.Serializable)
<ul>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_pidIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_pidIdx</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_remoteSensor.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_remoteSensor</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="frc/robot/subsystems/swervedrive/swerve/motors/CTRESwerveMotor.CTRE_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">CTRESwerveMotor.CTRE_slotIdx</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.motors.<a href="frc/robot/subsystems/swervedrive/swerve/motors/REVSwerveMotor.REV_slotIdx.html" title="enum in frc.robot.subsystems.swervedrive.swerve.motors"><span class="typeNameLink">REVSwerveMotor.REV_slotIdx</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveModule.SwerveModuleLocation</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="frc/robot/subsystems/swervedrive/swerve/SwerveModule.Verbosity.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveModule.Verbosity</span></a></li>
<li class="circle">frc.robot.subsystems.swervedrive.swerve.<a href="frc/robot/subsystems/swervedrive/swerve/SwerveMotor.ModuleMotorType.html" title="enum in frc.robot.subsystems.swervedrive.swerve"><span class="typeNameLink">SwerveMotor.ModuleMotorType</span></a></li>
</ul>
</li>
</ul>
</li>
</ul>
</section>
</div>
</main>
<footer role="contentinfo">
<nav role="navigation">
<!-- ======= START OF BOTTOM NAVBAR ====== -->
<div class="bottomNav"><a id="navbar.bottom">
<!-- -->
</a>
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</body>
</html>

View File

@@ -0,0 +1 @@
packageSearchIndex = [{"l":"All Packages","url":"allpackages-index.html"},{"l":"frc.robot.subsystems.swervedrive.swerve"},{"l":"frc.robot.subsystems.swervedrive.swerve.encoders"},{"l":"frc.robot.subsystems.swervedrive.swerve.kinematics"},{"l":"frc.robot.subsystems.swervedrive.swerve.motors"}]

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149
SwerveLib/script.js Normal file
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/*
* Copyright (c) 2013, 2018, Oracle and/or its affiliates. All rights reserved.
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
*
* This code is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License version 2 only, as
* published by the Free Software Foundation. Oracle designates this
* particular file as subject to the "Classpath" exception as provided
* by Oracle in the LICENSE file that accompanied this code.
*
* This code is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* version 2 for more details (a copy is included in the LICENSE file that
* accompanied this code).
*
* You should have received a copy of the GNU General Public License version
* 2 along with this work; if not, write to the Free Software Foundation,
* Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA
* or visit www.oracle.com if you need additional information or have any
* questions.
*/
var moduleSearchIndex;
var packageSearchIndex;
var typeSearchIndex;
var memberSearchIndex;
var tagSearchIndex;
function loadScripts(doc, tag) {
createElem(doc, tag, 'jquery/jszip/dist/jszip.js');
createElem(doc, tag, 'jquery/jszip-utils/dist/jszip-utils.js');
if (window.navigator.userAgent.indexOf('MSIE ') > 0 || window.navigator.userAgent.indexOf('Trident/') > 0 ||
window.navigator.userAgent.indexOf('Edge/') > 0) {
createElem(doc, tag, 'jquery/jszip-utils/dist/jszip-utils-ie.js');
}
createElem(doc, tag, 'search.js');
$.get(pathtoroot + "module-search-index.zip")
.done(function() {
JSZipUtils.getBinaryContent(pathtoroot + "module-search-index.zip", function(e, data) {
JSZip.loadAsync(data).then(function(zip){
zip.file("module-search-index.json").async("text").then(function(content){
moduleSearchIndex = JSON.parse(content);
});
});
});
});
$.get(pathtoroot + "package-search-index.zip")
.done(function() {
JSZipUtils.getBinaryContent(pathtoroot + "package-search-index.zip", function(e, data) {
JSZip.loadAsync(data).then(function(zip){
zip.file("package-search-index.json").async("text").then(function(content){
packageSearchIndex = JSON.parse(content);
});
});
});
});
$.get(pathtoroot + "type-search-index.zip")
.done(function() {
JSZipUtils.getBinaryContent(pathtoroot + "type-search-index.zip", function(e, data) {
JSZip.loadAsync(data).then(function(zip){
zip.file("type-search-index.json").async("text").then(function(content){
typeSearchIndex = JSON.parse(content);
});
});
});
});
$.get(pathtoroot + "member-search-index.zip")
.done(function() {
JSZipUtils.getBinaryContent(pathtoroot + "member-search-index.zip", function(e, data) {
JSZip.loadAsync(data).then(function(zip){
zip.file("member-search-index.json").async("text").then(function(content){
memberSearchIndex = JSON.parse(content);
});
});
});
});
$.get(pathtoroot + "tag-search-index.zip")
.done(function() {
JSZipUtils.getBinaryContent(pathtoroot + "tag-search-index.zip", function(e, data) {
JSZip.loadAsync(data).then(function(zip){
zip.file("tag-search-index.json").async("text").then(function(content){
tagSearchIndex = JSON.parse(content);
});
});
});
});
if (!moduleSearchIndex) {
createElem(doc, tag, 'module-search-index.js');
}
if (!packageSearchIndex) {
createElem(doc, tag, 'package-search-index.js');
}
if (!typeSearchIndex) {
createElem(doc, tag, 'type-search-index.js');
}
if (!memberSearchIndex) {
createElem(doc, tag, 'member-search-index.js');
}
if (!tagSearchIndex) {
createElem(doc, tag, 'tag-search-index.js');
}
$(window).resize(function() {
$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
});
}
function createElem(doc, tag, path) {
var script = doc.createElement(tag);
var scriptElement = doc.getElementsByTagName(tag)[0];
script.src = pathtoroot + path;
scriptElement.parentNode.insertBefore(script, scriptElement);
}
function show(type) {
count = 0;
for (var key in data) {
var row = document.getElementById(key);
if ((data[key] & type) !== 0) {
row.style.display = '';
row.className = (count++ % 2) ? rowColor : altColor;
}
else
row.style.display = 'none';
}
updateTabs(type);
}
function updateTabs(type) {
for (var value in tabs) {
var sNode = document.getElementById(tabs[value][0]);
var spanNode = sNode.firstChild;
if (value == type) {
sNode.className = activeTableTab;
spanNode.innerHTML = tabs[value][1];
}
else {
sNode.className = tableTab;
spanNode.innerHTML = "<a href=\"javascript:show("+ value + ");\">" + tabs[value][1] + "</a>";
}
}
}
function updateModuleFrame(pFrame, cFrame) {
top.packageFrame.location = pFrame;
top.classFrame.location = cFrame;
}

326
SwerveLib/search.js Normal file
View File

@@ -0,0 +1,326 @@
/*
* Copyright (c) 2015, 2018, Oracle and/or its affiliates. All rights reserved.
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
*
* This code is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License version 2 only, as
* published by the Free Software Foundation. Oracle designates this
* particular file as subject to the "Classpath" exception as provided
* by Oracle in the LICENSE file that accompanied this code.
*
* This code is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* version 2 for more details (a copy is included in the LICENSE file that
* accompanied this code).
*
* You should have received a copy of the GNU General Public License version
* 2 along with this work; if not, write to the Free Software Foundation,
* Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA
* or visit www.oracle.com if you need additional information or have any
* questions.
*/
var noResult = {l: "No results found"};
var catModules = "Modules";
var catPackages = "Packages";
var catTypes = "Types";
var catMembers = "Members";
var catSearchTags = "SearchTags";
var highlight = "<span class=\"resultHighlight\">$&</span>";
var camelCaseRegexp = "";
var secondaryMatcher = "";
function getHighlightedText(item) {
var ccMatcher = new RegExp(camelCaseRegexp);
var label = item.replace(ccMatcher, highlight);
if (label === item) {
label = item.replace(secondaryMatcher, highlight);
}
return label;
}
function getURLPrefix(ui) {
var urlPrefix="";
if (useModuleDirectories) {
var slash = "/";
if (ui.item.category === catModules) {
return ui.item.l + slash;
} else if (ui.item.category === catPackages && ui.item.m) {
return ui.item.m + slash;
} else if ((ui.item.category === catTypes && ui.item.p) || ui.item.category === catMembers) {
$.each(packageSearchIndex, function(index, item) {
if (ui.item.p == item.l) {
urlPrefix = item.m + slash;
}
});
return urlPrefix;
} else {
return urlPrefix;
}
}
return urlPrefix;
}
var watermark = 'Search';
$(function() {
$("#search").val('');
$("#search").prop("disabled", false);
$("#reset").prop("disabled", false);
$("#search").val(watermark).addClass('watermark');
$("#search").blur(function() {
if ($(this).val().length == 0) {
$(this).val(watermark).addClass('watermark');
}
});
$("#search").on('click keydown', function() {
if ($(this).val() == watermark) {
$(this).val('').removeClass('watermark');
}
});
$("#reset").click(function() {
$("#search").val('');
$("#search").focus();
});
$("#search").focus();
$("#search")[0].setSelectionRange(0, 0);
});
$.widget("custom.catcomplete", $.ui.autocomplete, {
_create: function() {
this._super();
this.widget().menu("option", "items", "> :not(.ui-autocomplete-category)");
},
_renderMenu: function(ul, items) {
var rMenu = this,
currentCategory = "";
rMenu.menu.bindings = $();
$.each(items, function(index, item) {
var li;
if (item.l !== noResult.l && item.category !== currentCategory) {
ul.append("<li class=\"ui-autocomplete-category\">" + item.category + "</li>");
currentCategory = item.category;
}
li = rMenu._renderItemData(ul, item);
if (item.category) {
li.attr("aria-label", item.category + " : " + item.l);
li.attr("class", "resultItem");
} else {
li.attr("aria-label", item.l);
li.attr("class", "resultItem");
}
});
},
_renderItem: function(ul, item) {
var label = "";
if (item.category === catModules) {
label = getHighlightedText(item.l);
} else if (item.category === catPackages) {
label = (item.m)
? getHighlightedText(item.m + "/" + item.l)
: getHighlightedText(item.l);
} else if (item.category === catTypes) {
label = (item.p)
? getHighlightedText(item.p + "." + item.l)
: getHighlightedText(item.l);
} else if (item.category === catMembers) {
label = getHighlightedText(item.p + "." + (item.c + "." + item.l));
} else if (item.category === catSearchTags) {
label = getHighlightedText(item.l);
} else {
label = item.l;
}
var li = $("<li/>").appendTo(ul);
var div = $("<div/>").appendTo(li);
if (item.category === catSearchTags) {
if (item.d) {
div.html(label + "<span class=\"searchTagHolderResult\"> (" + item.h + ")</span><br><span class=\"searchTagDescResult\">"
+ item.d + "</span><br>");
} else {
div.html(label + "<span class=\"searchTagHolderResult\"> (" + item.h + ")</span>");
}
} else {
div.html(label);
}
return li;
}
});
$(function() {
$("#search").catcomplete({
minLength: 1,
delay: 100,
source: function(request, response) {
var result = new Array();
var presult = new Array();
var tresult = new Array();
var mresult = new Array();
var tgresult = new Array();
var secondaryresult = new Array();
var displayCount = 0;
var exactMatcher = new RegExp("^" + $.ui.autocomplete.escapeRegex(request.term) + "$", "i");
camelCaseRegexp = ($.ui.autocomplete.escapeRegex(request.term)).split(/(?=[A-Z])/).join("([a-z0-9_$]*?)");
var camelCaseMatcher = new RegExp("^" + camelCaseRegexp);
secondaryMatcher = new RegExp($.ui.autocomplete.escapeRegex(request.term), "i");
// Return the nested innermost name from the specified object
function nestedName(e) {
return e.l.substring(e.l.lastIndexOf(".") + 1);
}
function concatResults(a1, a2) {
a1 = a1.concat(a2);
a2.length = 0;
return a1;
}
if (moduleSearchIndex) {
var mdleCount = 0;
$.each(moduleSearchIndex, function(index, item) {
item.category = catModules;
if (exactMatcher.test(item.l)) {
result.push(item);
mdleCount++;
} else if (camelCaseMatcher.test(item.l)) {
result.push(item);
} else if (secondaryMatcher.test(item.l)) {
secondaryresult.push(item);
}
});
displayCount = mdleCount;
result = concatResults(result, secondaryresult);
}
if (packageSearchIndex) {
var pCount = 0;
var pkg = "";
$.each(packageSearchIndex, function(index, item) {
item.category = catPackages;
pkg = (item.m)
? (item.m + "/" + item.l)
: item.l;
if (exactMatcher.test(item.l)) {
presult.push(item);
pCount++;
} else if (camelCaseMatcher.test(pkg)) {
presult.push(item);
} else if (secondaryMatcher.test(pkg)) {
secondaryresult.push(item);
}
});
result = result.concat(concatResults(presult, secondaryresult));
displayCount = (pCount > displayCount) ? pCount : displayCount;
}
if (typeSearchIndex) {
var tCount = 0;
$.each(typeSearchIndex, function(index, item) {
item.category = catTypes;
var s = nestedName(item);
if (exactMatcher.test(s)) {
tresult.push(item);
tCount++;
} else if (camelCaseMatcher.test(s)) {
tresult.push(item);
} else if (secondaryMatcher.test(item.p + "." + item.l)) {
secondaryresult.push(item);
}
});
result = result.concat(concatResults(tresult, secondaryresult));
displayCount = (tCount > displayCount) ? tCount : displayCount;
}
if (memberSearchIndex) {
var mCount = 0;
$.each(memberSearchIndex, function(index, item) {
item.category = catMembers;
var s = nestedName(item);
if (exactMatcher.test(s)) {
mresult.push(item);
mCount++;
} else if (camelCaseMatcher.test(s)) {
mresult.push(item);
} else if (secondaryMatcher.test(item.c + "." + item.l)) {
secondaryresult.push(item);
}
});
result = result.concat(concatResults(mresult, secondaryresult));
displayCount = (mCount > displayCount) ? mCount : displayCount;
}
if (tagSearchIndex) {
var tgCount = 0;
$.each(tagSearchIndex, function(index, item) {
item.category = catSearchTags;
if (exactMatcher.test(item.l)) {
tgresult.push(item);
tgCount++;
} else if (secondaryMatcher.test(item.l)) {
secondaryresult.push(item);
}
});
result = result.concat(concatResults(tgresult, secondaryresult));
displayCount = (tgCount > displayCount) ? tgCount : displayCount;
}
displayCount = (displayCount > 500) ? displayCount : 500;
var counter = function() {
var count = {Modules: 0, Packages: 0, Types: 0, Members: 0, SearchTags: 0};
var f = function(item) {
count[item.category] += 1;
return (count[item.category] <= displayCount);
};
return f;
}();
response(result.filter(counter));
},
response: function(event, ui) {
if (!ui.content.length) {
ui.content.push(noResult);
} else {
$("#search").empty();
}
},
autoFocus: true,
position: {
collision: "flip"
},
select: function(event, ui) {
if (ui.item.l !== noResult.l) {
var url = getURLPrefix(ui);
if (ui.item.category === catModules) {
if (useModuleDirectories) {
url += "module-summary.html";
} else {
url = ui.item.l + "-summary.html";
}
} else if (ui.item.category === catPackages) {
if (ui.item.url) {
url = ui.item.url;
} else {
url += ui.item.l.replace(/\./g, '/') + "/package-summary.html";
}
} else if (ui.item.category === catTypes) {
if (ui.item.url) {
url = ui.item.url;
} else if (ui.item.p === "<Unnamed>") {
url += ui.item.l + ".html";
} else {
url += ui.item.p.replace(/\./g, '/') + "/" + ui.item.l + ".html";
}
} else if (ui.item.category === catMembers) {
if (ui.item.p === "<Unnamed>") {
url += ui.item.c + ".html" + "#";
} else {
url += ui.item.p.replace(/\./g, '/') + "/" + ui.item.c + ".html" + "#";
}
if (ui.item.url) {
url += ui.item.url;
} else {
url += ui.item.l;
}
} else if (ui.item.category === catSearchTags) {
url += ui.item.u;
}
if (top !== window) {
parent.classFrame.location = pathtoroot + url;
} else {
window.location.href = pathtoroot + url;
}
$("#search").focus();
}
}
});
});

906
SwerveLib/stylesheet.css Normal file
View File

@@ -0,0 +1,906 @@
/*
* Javadoc style sheet
*/
@import url('resources/fonts/dejavu.css');
/*
* Styles for individual HTML elements.
*
* These are styles that are specific to individual HTML elements. Changing them affects the style of a particular
* HTML element throughout the page.
*/
body {
background-color:#ffffff;
color:#353833;
font-family:'DejaVu Sans', Arial, Helvetica, sans-serif;
font-size:14px;
margin:0;
padding:0;
height:100%;
width:100%;
}
iframe {
margin:0;
padding:0;
height:100%;
width:100%;
overflow-y:scroll;
border:none;
}
a:link, a:visited {
text-decoration:none;
color:#4A6782;
}
a[href]:hover, a[href]:focus {
text-decoration:none;
color:#bb7a2a;
}
a[name] {
color:#353833;
}
a[name]:before, a[name]:target, a[id]:before, a[id]:target {
content:"";
display:inline-block;
position:relative;
padding-top:129px;
margin-top:-129px;
}
pre {
font-family:'DejaVu Sans Mono', monospace;
font-size:14px;
}
h1 {
font-size:20px;
}
h2 {
font-size:18px;
}
h3 {
font-size:16px;
font-style:italic;
}
h4 {
font-size:13px;
}
h5 {
font-size:12px;
}
h6 {
font-size:11px;
}
ul {
list-style-type:disc;
}
code, tt {
font-family:'DejaVu Sans Mono', monospace;
font-size:14px;
padding-top:4px;
margin-top:8px;
line-height:1.4em;
}
dt code {
font-family:'DejaVu Sans Mono', monospace;
font-size:14px;
padding-top:4px;
}
table tr td dt code {
font-family:'DejaVu Sans Mono', monospace;
font-size:14px;
vertical-align:top;
padding-top:4px;
}
sup {
font-size:8px;
}
/*
* Styles for HTML generated by javadoc.
*
* These are style classes that are used by the standard doclet to generate HTML documentation.
*/
/*
* Styles for document title and copyright.
*/
.clear {
clear:both;
height:0px;
overflow:hidden;
}
.aboutLanguage {
float:right;
padding:0px 21px;
font-size:11px;
z-index:200;
margin-top:-9px;
}
.legalCopy {
margin-left:.5em;
}
.bar a, .bar a:link, .bar a:visited, .bar a:active {
color:#FFFFFF;
text-decoration:none;
}
.bar a:hover, .bar a:focus {
color:#bb7a2a;
}
.tab {
background-color:#0066FF;
color:#ffffff;
padding:8px;
width:5em;
font-weight:bold;
}
/*
* Styles for navigation bar.
*/
.bar {
background-color:#4D7A97;
color:#FFFFFF;
padding:.8em .5em .4em .8em;
height:auto;/*height:1.8em;*/
font-size:11px;
margin:0;
}
.navPadding {
padding-top: 107px;
}
.fixedNav {
position:fixed;
width:100%;
z-index:999;
background-color:#ffffff;
}
.topNav {
background-color:#4D7A97;
color:#FFFFFF;
float:left;
padding:0;
width:100%;
clear:right;
height:2.8em;
padding-top:10px;
overflow:hidden;
font-size:12px;
}
.bottomNav {
margin-top:10px;
background-color:#4D7A97;
color:#FFFFFF;
float:left;
padding:0;
width:100%;
clear:right;
height:2.8em;
padding-top:10px;
overflow:hidden;
font-size:12px;
}
.subNav {
background-color:#dee3e9;
float:left;
width:100%;
overflow:hidden;
font-size:12px;
}
.subNav div {
clear:left;
float:left;
padding:0 0 5px 6px;
text-transform:uppercase;
}
ul.navList, ul.subNavList {
float:left;
margin:0 25px 0 0;
padding:0;
}
ul.navList li{
list-style:none;
float:left;
padding: 5px 6px;
text-transform:uppercase;
}
ul.navListSearch {
float:right;
margin:0 0 0 0;
padding:0;
}
ul.navListSearch li {
list-style:none;
float:right;
padding: 5px 6px;
text-transform:uppercase;
}
ul.navListSearch li label {
position:relative;
right:-16px;
}
ul.subNavList li {
list-style:none;
float:left;
}
.topNav a:link, .topNav a:active, .topNav a:visited, .bottomNav a:link, .bottomNav a:active, .bottomNav a:visited {
color:#FFFFFF;
text-decoration:none;
text-transform:uppercase;
}
.topNav a:hover, .bottomNav a:hover {
text-decoration:none;
color:#bb7a2a;
text-transform:uppercase;
}
.navBarCell1Rev {
background-color:#F8981D;
color:#253441;
margin: auto 5px;
}
.skipNav {
position:absolute;
top:auto;
left:-9999px;
overflow:hidden;
}
/*
* Styles for page header and footer.
*/
.header, .footer {
clear:both;
margin:0 20px;
padding:5px 0 0 0;
}
.indexNav {
position:relative;
font-size:12px;
background-color:#dee3e9;
}
.indexNav ul {
margin-top:0;
padding:5px;
}
.indexNav ul li {
display:inline;
list-style-type:none;
padding-right:10px;
text-transform:uppercase;
}
.indexNav h1 {
font-size:13px;
}
.title {
color:#2c4557;
margin:10px 0;
}
.subTitle {
margin:5px 0 0 0;
}
.header ul {
margin:0 0 15px 0;
padding:0;
}
.footer ul {
margin:20px 0 5px 0;
}
.header ul li, .footer ul li {
list-style:none;
font-size:13px;
}
/*
* Styles for headings.
*/
div.details ul.blockList ul.blockList ul.blockList li.blockList h4, div.details ul.blockList ul.blockList ul.blockListLast li.blockList h4 {
background-color:#dee3e9;
border:1px solid #d0d9e0;
margin:0 0 6px -8px;
padding:7px 5px;
}
ul.blockList ul.blockList ul.blockList li.blockList h3 {
background-color:#dee3e9;
border:1px solid #d0d9e0;
margin:0 0 6px -8px;
padding:7px 5px;
}
ul.blockList ul.blockList li.blockList h3 {
padding:0;
margin:15px 0;
}
ul.blockList li.blockList h2 {
padding:0px 0 20px 0;
}
/*
* Styles for page layout containers.
*/
.contentContainer, .sourceContainer, .classUseContainer, .serializedFormContainer, .constantValuesContainer,
.allClassesContainer, .allPackagesContainer {
clear:both;
padding:10px 20px;
position:relative;
}
.indexContainer {
margin:10px;
position:relative;
font-size:12px;
}
.indexContainer h2 {
font-size:13px;
padding:0 0 3px 0;
}
.indexContainer ul {
margin:0;
padding:0;
}
.indexContainer ul li {
list-style:none;
padding-top:2px;
}
.contentContainer .description dl dt, .contentContainer .details dl dt, .serializedFormContainer dl dt {
font-size:12px;
font-weight:bold;
margin:10px 0 0 0;
color:#4E4E4E;
}
.contentContainer .description dl dd, .contentContainer .details dl dd, .serializedFormContainer dl dd {
margin:5px 0 10px 0px;
font-size:14px;
font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif;
}
.serializedFormContainer dl.nameValue dt {
margin-left:1px;
font-size:1.1em;
display:inline;
font-weight:bold;
}
.serializedFormContainer dl.nameValue dd {
margin:0 0 0 1px;
font-size:1.1em;
display:inline;
}
/*
* Styles for lists.
*/
li.circle {
list-style:circle;
}
ul.horizontal li {
display:inline;
font-size:0.9em;
}
ul.inheritance {
margin:0;
padding:0;
}
ul.inheritance li {
display:inline;
list-style:none;
}
ul.inheritance li ul.inheritance {
margin-left:15px;
padding-left:15px;
padding-top:1px;
}
ul.blockList, ul.blockListLast {
margin:10px 0 10px 0;
padding:0;
}
ul.blockList li.blockList, ul.blockListLast li.blockList {
list-style:none;
margin-bottom:15px;
line-height:1.4;
}
ul.blockList ul.blockList li.blockList, ul.blockList ul.blockListLast li.blockList {
padding:0px 20px 5px 10px;
border:1px solid #ededed;
background-color:#f8f8f8;
}
ul.blockList ul.blockList ul.blockList li.blockList, ul.blockList ul.blockList ul.blockListLast li.blockList {
padding:0 0 5px 8px;
background-color:#ffffff;
border:none;
}
ul.blockList ul.blockList ul.blockList ul.blockList li.blockList {
margin-left:0;
padding-left:0;
padding-bottom:15px;
border:none;
}
ul.blockList ul.blockList ul.blockList ul.blockList li.blockListLast {
list-style:none;
border-bottom:none;
padding-bottom:0;
}
table tr td dl, table tr td dl dt, table tr td dl dd {
margin-top:0;
margin-bottom:1px;
}
/*
* Styles for tables.
*/
.overviewSummary, .memberSummary, .typeSummary, .useSummary, .constantsSummary, .deprecatedSummary,
.requiresSummary, .packagesSummary, .providesSummary, .usesSummary {
width:100%;
border-spacing:0;
border-left:1px solid #EEE;
border-right:1px solid #EEE;
border-bottom:1px solid #EEE;
}
.overviewSummary, .memberSummary, .requiresSummary, .packagesSummary, .providesSummary, .usesSummary {
padding:0px;
}
.overviewSummary caption, .memberSummary caption, .typeSummary caption,
.useSummary caption, .constantsSummary caption, .deprecatedSummary caption,
.requiresSummary caption, .packagesSummary caption, .providesSummary caption, .usesSummary caption {
position:relative;
text-align:left;
background-repeat:no-repeat;
color:#253441;
font-weight:bold;
clear:none;
overflow:hidden;
padding:0px;
padding-top:10px;
padding-left:1px;
margin:0px;
white-space:pre;
}
.overviewSummary caption a:link, .memberSummary caption a:link, .typeSummary caption a:link,
.constantsSummary caption a:link, .deprecatedSummary caption a:link,
.requiresSummary caption a:link, .packagesSummary caption a:link, .providesSummary caption a:link,
.usesSummary caption a:link,
.overviewSummary caption a:hover, .memberSummary caption a:hover, .typeSummary caption a:hover,
.constantsSummary caption a:hover, .deprecatedSummary caption a:hover,
.requiresSummary caption a:hover, .packagesSummary caption a:hover, .providesSummary caption a:hover,
.usesSummary caption a:hover,
.overviewSummary caption a:active, .memberSummary caption a:active, .typeSummary caption a:active,
.constantsSummary caption a:active, .deprecatedSummary caption a:active,
.requiresSummary caption a:active, .packagesSummary caption a:active, .providesSummary caption a:active,
.usesSummary caption a:active,
.overviewSummary caption a:visited, .memberSummary caption a:visited, .typeSummary caption a:visited,
.constantsSummary caption a:visited, .deprecatedSummary caption a:visited,
.requiresSummary caption a:visited, .packagesSummary caption a:visited, .providesSummary caption a:visited,
.usesSummary caption a:visited {
color:#FFFFFF;
}
.useSummary caption a:link, .useSummary caption a:hover, .useSummary caption a:active,
.useSummary caption a:visited {
color:#1f389c;
}
.overviewSummary caption span, .memberSummary caption span, .typeSummary caption span,
.useSummary caption span, .constantsSummary caption span, .deprecatedSummary caption span,
.requiresSummary caption span, .packagesSummary caption span, .providesSummary caption span,
.usesSummary caption span {
white-space:nowrap;
padding-top:5px;
padding-left:12px;
padding-right:12px;
padding-bottom:7px;
display:inline-block;
float:left;
background-color:#F8981D;
border: none;
height:16px;
}
.memberSummary caption span.activeTableTab span, .packagesSummary caption span.activeTableTab span,
.overviewSummary caption span.activeTableTab span, .typeSummary caption span.activeTableTab span {
white-space:nowrap;
padding-top:5px;
padding-left:12px;
padding-right:12px;
margin-right:3px;
display:inline-block;
float:left;
background-color:#F8981D;
height:16px;
}
.memberSummary caption span.tableTab span, .packagesSummary caption span.tableTab span,
.overviewSummary caption span.tableTab span, .typeSummary caption span.tableTab span {
white-space:nowrap;
padding-top:5px;
padding-left:12px;
padding-right:12px;
margin-right:3px;
display:inline-block;
float:left;
background-color:#4D7A97;
height:16px;
}
.memberSummary caption span.tableTab, .memberSummary caption span.activeTableTab,
.packagesSummary caption span.tableTab, .packagesSummary caption span.activeTableTab,
.overviewSummary caption span.tableTab, .overviewSummary caption span.activeTableTab,
.typeSummary caption span.tableTab, .typeSummary caption span.activeTableTab {
padding-top:0px;
padding-left:0px;
padding-right:0px;
background-image:none;
float:none;
display:inline;
}
.overviewSummary .tabEnd, .memberSummary .tabEnd, .typeSummary .tabEnd,
.useSummary .tabEnd, .constantsSummary .tabEnd, .deprecatedSummary .tabEnd,
.requiresSummary .tabEnd, .packagesSummary .tabEnd, .providesSummary .tabEnd, .usesSummary .tabEnd {
display:none;
width:5px;
position:relative;
float:left;
background-color:#F8981D;
}
.memberSummary .activeTableTab .tabEnd, .packagesSummary .activeTableTab .tabEnd,
.overviewSummary .activeTableTab .tabEnd, .typeSummary .activeTableTab .tabEnd {
display:none;
width:5px;
margin-right:3px;
position:relative;
float:left;
background-color:#F8981D;
}
.memberSummary .tableTab .tabEnd, .packagesSummary .tableTab .tabEnd,
.overviewSummary .tableTab .tabEnd, .typeSummary .tableTab .tabEnd {
display:none;
width:5px;
margin-right:3px;
position:relative;
background-color:#4D7A97;
float:left;
}
.rowColor th, .altColor th {
font-weight:normal;
}
.overviewSummary td, .memberSummary td, .typeSummary td,
.useSummary td, .constantsSummary td, .deprecatedSummary td,
.requiresSummary td, .packagesSummary td, .providesSummary td, .usesSummary td {
text-align:left;
padding:0px 0px 12px 10px;
}
th.colFirst, th.colSecond, th.colLast, th.colConstructorName, th.colDeprecatedItemName, .useSummary th,
.constantsSummary th, .packagesSummary th, td.colFirst, td.colSecond, td.colLast, .useSummary td,
.constantsSummary td {
vertical-align:top;
padding-right:0px;
padding-top:8px;
padding-bottom:3px;
}
th.colFirst, th.colSecond, th.colLast, th.colConstructorName, th.colDeprecatedItemName, .constantsSummary th,
.packagesSummary th {
background:#dee3e9;
text-align:left;
padding:8px 3px 3px 7px;
}
td.colFirst, th.colFirst {
font-size:13px;
}
td.colSecond, th.colSecond, td.colLast, th.colConstructorName, th.colDeprecatedItemName, th.colLast {
font-size:13px;
}
.constantsSummary th, .packagesSummary th {
font-size:13px;
}
.providesSummary th.colFirst, .providesSummary th.colLast, .providesSummary td.colFirst,
.providesSummary td.colLast {
white-space:normal;
font-size:13px;
}
.overviewSummary td.colFirst, .overviewSummary th.colFirst,
.requiresSummary td.colFirst, .requiresSummary th.colFirst,
.packagesSummary td.colFirst, .packagesSummary td.colSecond, .packagesSummary th.colFirst, .packagesSummary th,
.usesSummary td.colFirst, .usesSummary th.colFirst,
.providesSummary td.colFirst, .providesSummary th.colFirst,
.memberSummary td.colFirst, .memberSummary th.colFirst,
.memberSummary td.colSecond, .memberSummary th.colSecond, .memberSummary th.colConstructorName,
.typeSummary td.colFirst, .typeSummary th.colFirst {
vertical-align:top;
}
.packagesSummary th.colLast, .packagesSummary td.colLast {
white-space:normal;
}
td.colFirst a:link, td.colFirst a:visited,
td.colSecond a:link, td.colSecond a:visited,
th.colFirst a:link, th.colFirst a:visited,
th.colSecond a:link, th.colSecond a:visited,
th.colConstructorName a:link, th.colConstructorName a:visited,
th.colDeprecatedItemName a:link, th.colDeprecatedItemName a:visited,
.constantValuesContainer td a:link, .constantValuesContainer td a:visited,
.allClassesContainer td a:link, .allClassesContainer td a:visited,
.allPackagesContainer td a:link, .allPackagesContainer td a:visited {
font-weight:bold;
}
.tableSubHeadingColor {
background-color:#EEEEFF;
}
.altColor, .altColor th {
background-color:#FFFFFF;
}
.rowColor, .rowColor th {
background-color:#EEEEEF;
}
/*
* Styles for contents.
*/
.description pre {
margin-top:0;
}
.deprecatedContent {
margin:0;
padding:10px 0;
}
.docSummary {
padding:0;
}
ul.blockList ul.blockList ul.blockList li.blockList h3 {
font-style:normal;
}
div.block {
font-size:14px;
font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif;
}
td.colLast div {
padding-top:0px;
}
td.colLast a {
padding-bottom:3px;
}
/*
* Styles for formatting effect.
*/
.sourceLineNo {
color:green;
padding:0 30px 0 0;
}
h1.hidden {
visibility:hidden;
overflow:hidden;
font-size:10px;
}
.block {
display:block;
margin:3px 10px 2px 0px;
color:#474747;
}
.deprecatedLabel, .descfrmTypeLabel, .implementationLabel, .memberNameLabel, .memberNameLink,
.moduleLabelInPackage, .moduleLabelInType, .overrideSpecifyLabel, .packageLabelInType,
.packageHierarchyLabel, .paramLabel, .returnLabel, .seeLabel, .simpleTagLabel,
.throwsLabel, .typeNameLabel, .typeNameLink, .searchTagLink {
font-weight:bold;
}
.deprecationComment, .emphasizedPhrase, .interfaceName {
font-style:italic;
}
.deprecationBlock {
font-size:14px;
font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif;
border-style:solid;
border-width:thin;
border-radius:10px;
padding:10px;
margin-bottom:10px;
margin-right:10px;
display:inline-block;
}
div.block div.deprecationComment, div.block div.block span.emphasizedPhrase,
div.block div.block span.interfaceName {
font-style:normal;
}
div.contentContainer ul.blockList li.blockList h2 {
padding-bottom:0px;
}
/*
* Styles for IFRAME.
*/
.mainContainer {
margin:0 auto;
padding:0;
height:100%;
width:100%;
position:fixed;
top:0;
left:0;
}
.leftContainer {
height:100%;
position:fixed;
width:320px;
}
.leftTop {
position:relative;
float:left;
width:315px;
top:0;
left:0;
height:30%;
border-right:6px solid #ccc;
border-bottom:6px solid #ccc;
}
.leftBottom {
position:relative;
float:left;
width:315px;
bottom:0;
left:0;
height:70%;
border-right:6px solid #ccc;
border-top:1px solid #000;
}
.rightContainer {
position:absolute;
left:320px;
top:0;
bottom:0;
height:100%;
right:0;
border-left:1px solid #000;
}
.rightIframe {
margin:0;
padding:0;
height:100%;
right:30px;
width:100%;
overflow:visible;
margin-bottom:30px;
}
/*
* Styles specific to HTML5 elements.
*/
main, nav, header, footer, section {
display:block;
}
/*
* Styles for javadoc search.
*/
.ui-autocomplete-category {
font-weight:bold;
font-size:15px;
padding:7px 0 7px 3px;
background-color:#4D7A97;
color:#FFFFFF;
}
.resultItem {
font-size:13px;
}
.ui-autocomplete {
max-height:85%;
max-width:65%;
overflow-y:scroll;
overflow-x:scroll;
white-space:nowrap;
box-shadow: 0 3px 6px rgba(0,0,0,0.16), 0 3px 6px rgba(0,0,0,0.23);
}
ul.ui-autocomplete {
position:fixed;
z-index:999999;
}
ul.ui-autocomplete li {
float:left;
clear:both;
width:100%;
}
.resultHighlight {
font-weight:bold;
}
#search {
background-image:url('resources/glass.png');
background-size:13px;
background-repeat:no-repeat;
background-position:2px 3px;
padding-left:20px;
position:relative;
right:-18px;
}
#reset {
background-color: rgb(255,255,255);
background-image:url('resources/x.png');
background-position:center;
background-repeat:no-repeat;
background-size:12px;
border:0 none;
width:16px;
height:17px;
position:relative;
left:-4px;
top:-4px;
font-size:0px;
}
.watermark {
color:#545454;
}
.searchTagDescResult {
font-style:italic;
font-size:11px;
}
.searchTagHolderResult {
font-style:italic;
font-size:12px;
}
.searchTagResult:before, .searchTagResult:target {
color:red;
}
.moduleGraph span {
display:none;
position:absolute;
}
.moduleGraph:hover span {
display:block;
margin: -100px 0 0 100px;
z-index: 1;
}
.methodSignature {
white-space:normal;
}
/*
* Styles for user-provided tables.
*
* borderless:
* No borders, vertical margins, styled caption.
* This style is provided for use with existing doc comments.
* In general, borderless tables should not be used for layout purposes.
*
* plain:
* Plain borders around table and cells, vertical margins, styled caption.
* Best for small tables or for complex tables for tables with cells that span
* rows and columns, when the "striped" style does not work well.
*
* striped:
* Borders around the table and vertical borders between cells, striped rows,
* vertical margins, styled caption.
* Best for tables that have a header row, and a body containing a series of simple rows.
*/
table.borderless,
table.plain,
table.striped {
margin-top: 10px;
margin-bottom: 10px;
}
table.borderless > caption,
table.plain > caption,
table.striped > caption {
font-weight: bold;
font-size: smaller;
}
table.borderless th, table.borderless td,
table.plain th, table.plain td,
table.striped th, table.striped td {
padding: 2px 5px;
}
table.borderless,
table.borderless > thead > tr > th, table.borderless > tbody > tr > th, table.borderless > tr > th,
table.borderless > thead > tr > td, table.borderless > tbody > tr > td, table.borderless > tr > td {
border: none;
}
table.borderless > thead > tr, table.borderless > tbody > tr, table.borderless > tr {
background-color: transparent;
}
table.plain {
border-collapse: collapse;
border: 1px solid black;
}
table.plain > thead > tr, table.plain > tbody tr, table.plain > tr {
background-color: transparent;
}
table.plain > thead > tr > th, table.plain > tbody > tr > th, table.plain > tr > th,
table.plain > thead > tr > td, table.plain > tbody > tr > td, table.plain > tr > td {
border: 1px solid black;
}
table.striped {
border-collapse: collapse;
border: 1px solid black;
}
table.striped > thead {
background-color: #E3E3E3;
}
table.striped > thead > tr > th, table.striped > thead > tr > td {
border: 1px solid black;
}
table.striped > tbody > tr:nth-child(even) {
background-color: #EEE
}
table.striped > tbody > tr:nth-child(odd) {
background-color: #FFF
}
table.striped > tbody > tr > th, table.striped > tbody > tr > td {
border-left: 1px solid black;
border-right: 1px solid black;
}
table.striped > tbody > tr > th {
font-weight: normal;
}

View File

@@ -0,0 +1 @@
typeSearchIndex = [{"l":"All Classes","url":"allclasses-index.html"},{"p":"frc.robot.subsystems.swervedrive.swerve.motors","l":"CTRESwerveMotor.CTRE_pidIdx"},{"p":"frc.robot.subsystems.swervedrive.swerve.motors","l":"CTRESwerveMotor.CTRE_remoteSensor"},{"p":"frc.robot.subsystems.swervedrive.swerve.motors","l":"CTRESwerveMotor.CTRE_slotIdx"},{"p":"frc.robot.subsystems.swervedrive.swerve.encoders","l":"CTRECANCoder"},{"p":"frc.robot.subsystems.swervedrive.swerve.motors","l":"CTRESwerveMotor"},{"p":"frc.robot.subsystems.swervedrive.swerve","l":"SwerveMotor.ModuleMotorType"},{"p":"frc.robot.subsystems.swervedrive.swerve.encoders","l":"PWMAnalogEncoder"},{"p":"frc.robot.subsystems.swervedrive.swerve.encoders","l":"PWMDutyCycleEncoder"},{"p":"frc.robot.subsystems.swervedrive.swerve.motors","l":"REVSwerveMotor.REV_slotIdx"},{"p":"frc.robot.subsystems.swervedrive.swerve.encoders","l":"REVAbsoluteEncoder"},{"p":"frc.robot.subsystems.swervedrive.swerve.motors","l":"REVSwerveMotor"},{"p":"frc.robot.subsystems.swervedrive.swerve","l":"SwerveDrive"},{"p":"frc.robot.subsystems.swervedrive.swerve.kinematics","l":"SwerveDriveKinematics2"},{"p":"frc.robot.subsystems.swervedrive.swerve","l":"SwerveEncoder"},{"p":"frc.robot.subsystems.swervedrive.swerve","l":"SwerveModule"},{"p":"frc.robot.subsystems.swervedrive.swerve","l":"SwerveDrive.SwerveModuleConfig"},{"p":"frc.robot.subsystems.swervedrive.swerve","l":"SwerveModule.SwerveModuleLocation"},{"p":"frc.robot.subsystems.swervedrive.swerve.kinematics","l":"SwerveModuleState2"},{"p":"frc.robot.subsystems.swervedrive.swerve","l":"SwerveMotor"},{"p":"frc.robot.subsystems.swervedrive.swerve","l":"SwerveParser"},{"p":"frc.robot.subsystems.swervedrive.swerve","l":"SwerveModule.Verbosity"}]

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