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Updated and added absolute encoder stability

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This commit is contained in:
thenetworkgrinch
2023-03-15 21:49:24 -05:00
parent e15e538d56
commit 9887cf3c26
117 changed files with 1527 additions and 1114 deletions
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51
docs/swervelib/SwerveModule.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Mar 09 21:47:59 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 15 21:47:27 CDT 2023 -->
<title>SwerveModule</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-09">
<meta name="dc.created" content="2023-03-15">
<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -141,6 +141,11 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Simulated swerve module.</div>
</div>
<div class="col-first even-row-color"><code>private boolean</code></div>
<div class="col-second even-row-color"><code><a href="#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a></code></div>
<div class="col-last even-row-color">
<div class="block">Encoder synchronization queued.</div>
</div>
</div>
</section>
</li>
@@ -192,26 +197,26 @@ loadScripts(document, 'script');</script>
<div class="block">Get the Swerve Module state.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngle(double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#queueSynchronizeEncoders()" class="member-name-link">queueSynchronizeEncoders</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Queue synchronization of the integrated angle encoder with the absolute encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngle(double)" class="member-name-link">setAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the angle for the module.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDesiredState(swervelib.math.SwerveModuleState2,boolean,boolean)" class="member-name-link">setDesiredState</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDesiredState(swervelib.math.SwerveModuleState2,boolean,boolean)" class="member-name-link">setDesiredState</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
boolean&nbsp;isOpenLoop,
boolean&nbsp;force)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the desired state of the swerve module.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;brake)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the brake mode.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeEncoders()" class="member-name-link">synchronizeEncoders</a>()</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;brake)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Synchronize the integrated angle encoder with the absolute encoder.</div>
<div class="block">Set the brake mode.</div>
</div>
</div>
</div>
@@ -300,6 +305,13 @@ loadScripts(document, 'script');</script>
<div class="block">Simulated swerve module.</div>
</section>
</li>
<li>
<section class="detail" id="synchronizeEncoderQueued">
<h3>synchronizeEncoderQueued</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">synchronizeEncoderQueued</span></div>
<div class="block">Encoder synchronization queued.</div>
</section>
</li>
</ul>
</section>
</li>
@@ -330,10 +342,10 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="synchronizeEncoders()">
<h3>synchronizeEncoders</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">synchronizeEncoders</span>()</div>
<div class="block">Synchronize the integrated angle encoder with the absolute encoder.</div>
<section class="detail" id="queueSynchronizeEncoders()">
<h3>queueSynchronizeEncoders</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">queueSynchronizeEncoders</span>()</div>
<div class="block">Queue synchronization of the integrated angle encoder with the absolute encoder.</div>
</section>
</li>
<li>
@@ -342,7 +354,8 @@ loadScripts(document, 'script');</script>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setDesiredState</span><wbr><span class="parameters">(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
boolean&nbsp;isOpenLoop,
boolean&nbsp;force)</span></div>
<div class="block">Set the desired state of the swerve module.</div>
<div class="block">Set the desired state of the swerve module. <br/><b>WARNING: If you are not using one of the functions from
<a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> you may screw up <a href="SwerveDrive.html#kinematics"><code>SwerveDrive.kinematics</code></a></b></div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredState</code> - Desired swerve module state.</dd>
@@ -392,7 +405,7 @@ loadScripts(document, 'script');</script>
<div class="block">Get the absolute position. Falls back to relative position on reading failure.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>Absolute encoder angle in degrees.</dd>
<dd>Absolute encoder angle in degrees in the range [0, 360).</dd>
</dl>
</section>
</li>