From 9a2eb4e74f82cce51e85dfac02f6a7427ae3079a Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Wed, 28 Feb 2024 13:25:59 -0600 Subject: [PATCH] Update 2024.4.8.6 --- docs/allclasses-index.html | 4 +- docs/allpackages-index.html | 4 +- docs/constant-values.html | 4 +- docs/help-doc.html | 4 +- docs/index-files/index-1.html | 8 +- docs/index-files/index-10.html | 4 +- docs/index-files/index-11.html | 4 +- docs/index-files/index-12.html | 4 +- docs/index-files/index-13.html | 4 +- docs/index-files/index-14.html | 4 +- docs/index-files/index-15.html | 4 +- docs/index-files/index-16.html | 4 +- docs/index-files/index-17.html | 4 +- docs/index-files/index-18.html | 20 +- docs/index-files/index-19.html | 4 +- docs/index-files/index-2.html | 4 +- docs/index-files/index-20.html | 4 +- docs/index-files/index-21.html | 4 +- docs/index-files/index-22.html | 4 +- docs/index-files/index-23.html | 4 +- docs/index-files/index-24.html | 4 +- docs/index-files/index-25.html | 4 +- docs/index-files/index-3.html | 4 +- docs/index-files/index-4.html | 8 +- docs/index-files/index-5.html | 4 +- docs/index-files/index-6.html | 8 +- docs/index-files/index-7.html | 12 +- docs/index-files/index-8.html | 4 +- docs/index-files/index-9.html | 4 +- docs/index.html | 4 +- docs/member-search-index.js | 2 +- docs/overview-summary.html | 4 +- docs/overview-tree.html | 4 +- docs/swervelib/SwerveController.html | 4 +- docs/swervelib/SwerveDrive.html | 18 +- docs/swervelib/SwerveDriveTest.html | 4 +- docs/swervelib/SwerveModule.html | 209 +++++++++++++----- .../encoders/AnalogAbsoluteEncoderSwerve.html | 4 +- docs/swervelib/encoders/CANCoderSwerve.html | 4 +- .../swervelib/encoders/CanAndCoderSwerve.html | 4 +- .../encoders/PWMDutyCycleEncoderSwerve.html | 4 +- .../encoders/SparkMaxAnalogEncoderSwerve.html | 4 +- .../encoders/SparkMaxEncoderSwerve.html | 4 +- .../encoders/SwerveAbsoluteEncoder.html | 4 +- docs/swervelib/encoders/package-summary.html | 4 +- docs/swervelib/encoders/package-tree.html | 4 +- docs/swervelib/imu/ADIS16448Swerve.html | 4 +- docs/swervelib/imu/ADIS16470Swerve.html | 4 +- docs/swervelib/imu/ADXRS450Swerve.html | 4 +- docs/swervelib/imu/AnalogGyroSwerve.html | 4 +- docs/swervelib/imu/NavXSwerve.html | 4 +- docs/swervelib/imu/Pigeon2Swerve.html | 4 +- docs/swervelib/imu/PigeonSwerve.html | 4 +- docs/swervelib/imu/SwerveIMU.html | 4 +- docs/swervelib/imu/package-summary.html | 4 +- docs/swervelib/imu/package-tree.html | 4 +- docs/swervelib/math/Matter.html | 4 +- docs/swervelib/math/SwerveMath.html | 4 +- docs/swervelib/math/package-summary.html | 4 +- docs/swervelib/math/package-tree.html | 4 +- .../SparkFlexSwerve.SparkMAX_slotIdx.html | 4 +- docs/swervelib/motors/SparkFlexSwerve.html | 4 +- .../motors/SparkMaxBrushedMotorSwerve.html | 4 +- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 4 +- docs/swervelib/motors/SparkMaxSwerve.html | 4 +- docs/swervelib/motors/SwerveMotor.html | 4 +- docs/swervelib/motors/TalonFXSwerve.html | 4 +- docs/swervelib/motors/TalonSRXSwerve.html | 4 +- docs/swervelib/motors/package-summary.html | 4 +- docs/swervelib/motors/package-tree.html | 4 +- docs/swervelib/package-summary.html | 4 +- docs/swervelib/package-tree.html | 4 +- docs/swervelib/parser/Cache.html | 4 +- docs/swervelib/parser/PIDFConfig.html | 4 +- .../parser/SwerveControllerConfiguration.html | 4 +- .../parser/SwerveDriveConfiguration.html | 4 +- .../parser/SwerveModuleConfiguration.html | 4 +- .../SwerveModulePhysicalCharacteristics.html | 4 +- docs/swervelib/parser/SwerveParser.html | 4 +- .../parser/deserializer/PIDFRange.html | 4 +- .../parser/deserializer/package-summary.html | 4 +- .../parser/deserializer/package-tree.html | 4 +- .../parser/json/ControllerPropertiesJson.html | 4 +- docs/swervelib/parser/json/DeviceJson.html | 4 +- docs/swervelib/parser/json/ModuleJson.html | 4 +- .../parser/json/MotorConfigDouble.html | 4 +- .../swervelib/parser/json/MotorConfigInt.html | 4 +- .../parser/json/PIDFPropertiesJson.html | 4 +- .../parser/json/PhysicalPropertiesJson.html | 4 +- .../parser/json/SwerveDriveJson.html | 4 +- .../parser/json/modules/BoolMotorJson.html | 4 +- .../parser/json/modules/LocationJson.html | 4 +- .../parser/json/modules/package-summary.html | 4 +- .../parser/json/modules/package-tree.html | 4 +- .../parser/json/package-summary.html | 4 +- docs/swervelib/parser/json/package-tree.html | 4 +- docs/swervelib/parser/package-summary.html | 4 +- docs/swervelib/parser/package-tree.html | 4 +- .../simulation/SwerveIMUSimulation.html | 4 +- .../simulation/SwerveModuleSimulation.html | 4 +- .../swervelib/simulation/package-summary.html | 4 +- docs/swervelib/simulation/package-tree.html | 4 +- docs/swervelib/telemetry/Alert.AlertType.html | 4 +- .../telemetry/Alert.SendableAlerts.html | 4 +- docs/swervelib/telemetry/Alert.html | 4 +- ...erveDriveTelemetry.TelemetryVerbosity.html | 4 +- .../telemetry/SwerveDriveTelemetry.html | 4 +- docs/swervelib/telemetry/package-summary.html | 4 +- docs/swervelib/telemetry/package-tree.html | 4 +- swervelib/SwerveDrive.java | 16 +- swervelib/SwerveModule.java | 89 +++++++- 111 files changed, 503 insertions(+), 291 deletions(-) diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index 7c8bdf5..de6b6ec 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,11 +1,11 @@ - + All Classes and Interfaces - + diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 185c809..e35433f 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,11 +1,11 @@ - + All Packages - + diff --git a/docs/constant-values.html b/docs/constant-values.html index 6ef5799..600df1e 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,11 +1,11 @@ - + Constant Field Values - + diff --git a/docs/help-doc.html b/docs/help-doc.html index 888140f..2039415 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,11 +1,11 @@ - + API Help - + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 1eae27e..a1a81ed 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,11 +1,11 @@ - + A-Index - + @@ -277,6 +277,10 @@ loadScripts(document, 'script');
Perform anti-jitter within modules if the speed requested is too low.
+
antiJitterEnabled - Variable in class swervelib.SwerveModule
+
+
Anti-Jitter AKA auto-centering disabled.
+
applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath
Algebraically apply a deadband using a piece wise function.
diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index 858d07a..9a9ed43 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,11 +1,11 @@ - + K-Index - + diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index ea78c9c..790082d 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index 218ff74..4d145da 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,11 +1,11 @@ - + M-Index - + diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 5bd8a4c..990d7dd 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,11 +1,11 @@ - + N-Index - + diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index 2732e67..32ecf8f 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 6b33f1a..ae85066 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 2f2bfdb..c5c3754 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + Q-Index - + diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 2e81466..b777100 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + R-Index - + diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index f71daf4..dbc8c94 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + S-Index - + @@ -159,10 +159,18 @@ loadScripts(document, 'script');
Set the voltage compensation for the swerve module motor.
+
setAnglePIDF(PIDFConfig) - Method in class swervelib.SwerveModule
+
+
Set the angle/azimuth/steering motor PID
+
setAngleSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive) - Static method in class swervelib.SwerveDriveTest
Sets up the SysId runner and logger for the angle motors
+
setAntiJitter(boolean) - Method in class swervelib.SwerveModule
+
+
Set the antiJitter functionality, if true the modules will NOT auto center.
+
setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
Set chassis speeds with closed-loop velocity control.
@@ -218,10 +226,18 @@ loadScripts(document, 'script');
Set the voltage compensation for the swerve module motor.
+
setDrivePIDF(PIDFConfig) - Method in class swervelib.SwerveModule
+
+
Set the drive PIDF values.
+
setDriveSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest
Sets up the SysId runner and logger for the drive motors
+
setFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveModule
+
+
Set the feedforward attributes to the given parameters.
+
setGyro(Rotation3d) - Method in class swervelib.SwerveDrive
Set the expected gyroscope angle using a Rotation3d object.
diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index b0b91cc..44f69ab 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + T-Index - + diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 315638b..4aa703d 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,11 +1,11 @@ - + B-Index - + diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index d5c86a6..29ec1c7 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + U-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index a12cbda..23781b0 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + V-Index - + diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 415fb95..474ec6e 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + W-Index - + diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index 661352f..edff65b 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + X-Index - + diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index 3232eaa..ed01061 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Y-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index c71308c..e72d91e 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index adbf59e..ec2edf8 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,11 +1,11 @@ - + C-Index - + diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 8bceb78..ca0323c 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,11 +1,11 @@ - + D-Index - + @@ -135,6 +135,10 @@ loadScripts(document, 'script');
Current limits for the Swerve Module.
+
driveMotorFeedforward - Variable in class swervelib.SwerveModule
+
+
Feedforward for the drive motor during closed loop control.
+
driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
State of inversion of the drive motor.
diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 7977c4c..7fb2099 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index f10923b..ba69641 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,11 +1,11 @@ - + F-Index - + @@ -185,10 +185,6 @@ loadScripts(document, 'script');
The fake speed of the previous state, used to calculate SwerveModuleSimulation.fakePos.
-
feedforward - Variable in class swervelib.SwerveModule
-
-
Feedforward for drive motor during closed loop control.
-
field - Variable in class swervelib.SwerveDrive
Field object.
diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index c86a81c..1246270 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + @@ -169,6 +169,10 @@ loadScripts(document, 'script');
Get the angle SwerveMotor for the SwerveModule.
+
getAnglePIDF() - Method in class swervelib.SwerveModule
+
+
Get the current angle/azimuth/steering motor PIDF values.
+
getAppliedOutput() - Method in class swervelib.motors.SparkFlexSwerve
Get the applied dutycycle output.
@@ -209,6 +213,10 @@ loadScripts(document, 'script');
Get the drive SwerveMotor for the SwerveModule.
+
getDrivePIDF() - Method in class swervelib.SwerveModule
+
+
Get the current drive motor PIDF values.
+
getFieldVelocity() - Method in class swervelib.SwerveDrive
Gets the current field-relative velocity (x, y and omega) of the robot
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index 882e44c..7abfd87 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,11 +1,11 @@ - + H-Index - + diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index 68b687a..7a34ca2 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,11 +1,11 @@ - + I-Index - + diff --git a/docs/index.html b/docs/index.html index ee42e18..476a8f8 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,11 +1,11 @@ - + Overview - + diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 904908d..edee563 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = [{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"absoluteEncoder"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoder"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderInverted"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoderInverted"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoderIssueName"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderOffset"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"absoluteEncoderOffsetWarning"},{"p":"swervelib","c":"SwerveModule","l":"absolutePositionCache"},{"p":"swervelib.telemetry","c":"Alert","l":"active"},{"p":"swervelib.telemetry","c":"Alert","l":"activeStartTime"},{"p":"swervelib","c":"SwerveController","l":"addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)","u":"addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double, Matrix)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"ADIS16448Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"ADIS16470Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveModule","l":"adjAbsoluteAngleName"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"ADXRS450Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.telemetry","c":"Alert","l":"Alert(String, Alert.AlertType)","u":"%3Cinit%3E(java.lang.String,swervelib.telemetry.Alert.AlertType)"},{"p":"swervelib.telemetry","c":"Alert","l":"Alert(String, String, Alert.AlertType)","u":"%3Cinit%3E(java.lang.String,java.lang.String,swervelib.telemetry.Alert.AlertType)"},{"p":"swervelib.telemetry","c":"Alert.SendableAlerts","l":"alerts"},{"p":"swervelib.telemetry","c":"Alert.AlertType","l":"AlertType()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(AnalogInput)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.AnalogInput)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"AnalogGyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angle"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"angle"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"angle"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"angle"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"angleJoystickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"angleJoyStickRadiusDeadband"},{"p":"swervelib","c":"SwerveController","l":"angleLimiter"},{"p":"swervelib","c":"SwerveDriveTest","l":"angleModules(SwerveDrive, Rotation2d)","u":"angleModules(swervelib.SwerveDrive,edu.wpi.first.math.geometry.Rotation2d)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotor"},{"p":"swervelib","c":"SwerveModule","l":"angleMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorRampRate"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleOffset"},{"p":"swervelib","c":"SwerveModule","l":"angleOffset"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"anglePIDF"},{"p":"swervelib.math","c":"SwerveMath","l":"antiJitter(SwerveModuleState, SwerveModuleState, double)","u":"antiJitter(edu.wpi.first.math.kinematics.SwerveModuleState,edu.wpi.first.math.kinematics.SwerveModuleState,double)"},{"p":"swervelib.math","c":"SwerveMath","l":"applyDeadband(double, boolean, double)","u":"applyDeadband(double,boolean,double)"},{"p":"swervelib","c":"SwerveDrive","l":"attainableMaxRotationalVelocityRadiansPerSecond"},{"p":"swervelib","c":"SwerveDrive","l":"attainableMaxTranslationalSpeedMetersPerSecond"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"BoolMotorJson()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SparkFlexSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"burnFlash()"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"burnFlash()"},{"p":"swervelib.parser","c":"Cache","l":"Cache(Supplier, long)","u":"%3Cinit%3E(java.util.function.Supplier,long)"},{"p":"swervelib.math","c":"SwerveMath","l":"calcMaxAccel(Rotation2d, List, double, 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b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 057fdc3..eb14b73 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + @@ -399,7 +399,7 @@ loadScripts(document, 'script');
Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
void
-
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
+
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
Setup the swerve module feedforward.
@@ -934,8 +934,8 @@ loadScripts(document, 'script'); boolean isOpenLoop, edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
The primary method for controlling the drivebase. Takes a ChassisSpeeds, and calculates and commands module - states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Also has - field- and robot-relative modes, which affect how the translation vector is used.
+ states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Applies + heading correction if enabled and necessary.
Parameters:
velocity - The chassis speeds to set the robot to achieve.
@@ -991,7 +991,7 @@ loadScripts(document, 'script');

setRawModuleStates

private void setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, boolean isOpenLoop)
-
Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.
+
Set the module states (azimuth and velocity) directly.
Parameters:
desiredStates - A list of SwerveModuleStates to send to the modules.
@@ -1226,7 +1226,7 @@ loadScripts(document, 'script'); setRawModuleStates(SwerveModuleState[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions. This function overrides what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the - SwerveModule.feedforward. + SwerveModule.setFeedforward(SimpleMotorFeedforward).
Parameters:
maximumSpeed - Maximum speed for the drive motors in meters / second.
@@ -1257,11 +1257,11 @@ loadScripts(document, 'script');

  • replaceSwerveModuleFeedforward

    -
    public void replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
    +
    public void replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
    Setup the swerve module feedforward.
    Parameters:
    -
    feedforward - Feedforward for the drive motor on swerve modules.
    +
    driveFeedforward - Feedforward for the drive motor on swerve modules.
    • diff --git a/docs/swervelib/SwerveDriveTest.html b/docs/swervelib/SwerveDriveTest.html index 81afbfc..4d056ad 100644 --- a/docs/swervelib/SwerveDriveTest.html +++ b/docs/swervelib/SwerveDriveTest.html @@ -1,11 +1,11 @@ - + SwerveDriveTest - + diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index eda3051..d40c268 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,11 +1,11 @@ - + SwerveModule - + @@ -121,16 +121,26 @@ loadScripts(document, 'script');
    Angle offset from the absolute encoder.
    -
    final SwerveModuleConfiguration
    -
    configuration
    +
    private boolean
    +
    antiJitterEnabled
    +
    Anti-Jitter AKA auto-centering disabled.
    +
    +
    final SwerveModuleConfiguration
    +
    configuration
    +
    Swerve module configuration options.
    -
    private final SwerveMotor
    -
    driveMotor
    -
    +
    private final SwerveMotor
    +
    driveMotor
    +
    Swerve Motors.
    +
    private edu.wpi.first.math.controller.SimpleMotorFeedforward
    +
    driveMotorFeedforward
    +
    +
    Feedforward for the drive motor during closed loop control.
    +
    final Cache<Double>
    drivePositionCache
    @@ -146,54 +156,49 @@ loadScripts(document, 'script');
    An Alert for if pushing the Absolute Encoder offset to the encoder fails.
    -
    edu.wpi.first.math.controller.SimpleMotorFeedforward
    -
    feedforward
    +
    private edu.wpi.first.math.kinematics.SwerveModuleState
    +
    lastState
    -
    Feedforward for drive motor during closed loop control.
    -
    -
    private edu.wpi.first.math.kinematics.SwerveModuleState
    -
    lastState
    -
    Last swerve module state applied.
    -
    double
    -
    maxSpeed
    -
    +
    double
    +
    maxSpeed
    +
    Maximum speed of the drive motors in meters per second.
    -
    int
    -
    moduleNumber
    -
    +
    int
    +
    moduleNumber
    +
    Module number for kinematics, usually 0 to 3.
    -
    private final Alert
    -
    noEncoderWarning
    -
    +
    private final Alert
    +
    noEncoderWarning
    +
    An Alert for if there is no Absolute Encoder on the module.
    -
    private final String
    -
    rawAbsoluteAngleName
    -
    +
    private final String
    +
    rawAbsoluteAngleName
    +
    NT3 Raw Absolute Angle publisher for the absolute encoder.
    -
    private final String
    -
    rawAngleName
    -
    +
    private final String
    +
    rawAngleName
    +
    NT3 raw angle motor.
    -
    private final String
    -
    rawDriveName
    -
    +
    private final String
    +
    rawDriveName
    +
    NT3 Raw drive motor.
    -
    private SwerveModuleSimulation
    -
    simModule
    -
    +
    private SwerveModuleSimulation
    +
    simModule
    +
    Simulated swerve module.
    -
    private boolean
    -
    synchronizeEncoderQueued
    -
    +
    private boolean
    +
    synchronizeEncoderQueued
    +
    Encoder synchronization queued.
    @@ -247,21 +252,31 @@ loadScripts(document, 'script');
    Get the angle SwerveMotor for the SwerveModule.
    -
    SwerveModuleConfiguration
    -
    getConfiguration()
    +
    PIDFConfig
    +
    getAnglePIDF()
    +
    Get the current angle/azimuth/steering motor PIDF values.
    +
    +
    SwerveModuleConfiguration
    +
    getConfiguration()
    +
    Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
    -
    private double
    -
    getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState desiredState)
    -
    +
    private double
    +
    getCosineCompensatedVelocity(edu.wpi.first.math.kinematics.SwerveModuleState desiredState)
    +
    Get the cosine compensated velocity to set the swerve module to.
    -
    SwerveMotor
    -
    getDriveMotor()
    -
    +
    SwerveMotor
    +
    getDriveMotor()
    +
    Get the drive SwerveMotor for the SwerveModule.
    +
    PIDFConfig
    +
    getDrivePIDF()
    +
    +
    Get the current drive motor PIDF values.
    +
    edu.wpi.first.math.kinematics.SwerveModulePosition
    getPosition()
    @@ -313,6 +328,16 @@ loadScripts(document, 'script');
    Set the voltage compensation for the swerve module motor.
    void
    +
    setAnglePIDF(PIDFConfig config)
    +
    +
    Set the angle/azimuth/steering motor PID
    +
    +
    void
    +
    setAntiJitter(boolean antiJitter)
    +
    +
    Set the antiJitter functionality, if true the modules will NOT auto center.
    +
    +
    void
    setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, boolean isOpenLoop, boolean force)
    @@ -330,6 +355,16 @@ loadScripts(document, 'script');
    Set the voltage compensation for the swerve module motor.
    void
    +
    setDrivePIDF(PIDFConfig config)
    +
    +
    Set the drive PIDF values.
    +
    +
    void
    +
    setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward drive)
    +
    +
    Set the feedforward attributes to the given parameters.
    +
    +
    void
    setMotorBrake(boolean brake)
    Set the brake mode.
    @@ -462,10 +497,10 @@ loadScripts(document, 'script');
  • -
    -

    feedforward

    -
    public edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward
    -
    Feedforward for drive motor during closed loop control.
    +
    +

    driveMotorFeedforward

    +
    private edu.wpi.first.math.controller.SimpleMotorFeedforward driveMotorFeedforward
    +
    Feedforward for the drive motor during closed loop control.
  • @@ -476,6 +511,13 @@ loadScripts(document, 'script');
  • +
    +

    antiJitterEnabled

    +
    private boolean antiJitterEnabled
    +
    Anti-Jitter AKA auto-centering disabled.
    +
    +
    • +

  • lastState

    private edu.wpi.first.math.kinematics.SwerveModuleState lastState
    @@ -565,6 +607,73 @@ loadScripts(document, 'script');
  • +
    +

    setAntiJitter

    +
    public void setAntiJitter(boolean antiJitter)
    +
    Set the antiJitter functionality, if true the modules will NOT auto center. Pushes the offsets to the angle motor + controllers as well.
    +
    +
    Parameters:
    +
    antiJitter - Anti-Jitter state desired.
    +
    +
    +
    • +
  • +
    +

    setFeedforward

    +
    public void setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward drive)
    +
    Set the feedforward attributes to the given parameters.
    +
    +
    Parameters:
    +
    drive - Drive motor feedforward for the module.
    +
    +
    +
    • +
  • +
    +

    setDrivePIDF

    +
    public void setDrivePIDF(PIDFConfig config)
    +
    Set the drive PIDF values.
    +
    +
    Parameters:
    +
    config - PIDFConfig of that should be set.
    +
    +
    +
    • +
  • +
    +

    getDrivePIDF

    +
    public PIDFConfig getDrivePIDF()
    +
    Get the current drive motor PIDF values.
    +
    +
    Returns:
    +
    PIDFConfig of the drive motor.
    +
    +
    +
    • +
  • +
    +

    setAnglePIDF

    +
    public void setAnglePIDF(PIDFConfig config)
    +
    Set the angle/azimuth/steering motor PID
    +
    +
    Parameters:
    +
    config - PIDFConfig of that should be set.
    +
    +
    +
    • +
  • +
    +

    getAnglePIDF

    +
    public PIDFConfig getAnglePIDF()
    +
    Get the current angle/azimuth/steering motor PIDF values.
    +
    +
    Returns:
    +
    PIDFConfig of the angle motor.
    +
    +
    +
    • +

  • setDesiredState

    public void setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index 082ee62..d068f1f 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,11 +1,11 @@ - + AnalogAbsoluteEncoderSwerve - + diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index 47446f7..b298fa5 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,11 +1,11 @@ - + CANCoderSwerve - + diff --git a/docs/swervelib/encoders/CanAndCoderSwerve.html b/docs/swervelib/encoders/CanAndCoderSwerve.html index 938afcc..6777db0 100644 --- a/docs/swervelib/encoders/CanAndCoderSwerve.html +++ b/docs/swervelib/encoders/CanAndCoderSwerve.html @@ -1,11 +1,11 @@ - + CanAndCoderSwerve - + diff --git a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html index 9987b19..5142caa 100644 --- a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html +++ b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html @@ -1,11 +1,11 @@ - + PWMDutyCycleEncoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html index 70c16c0..fcabffd 100644 --- a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxAnalogEncoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 2fb9cca..7272992 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxEncoderSwerve - + diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index 24a0e70..f40c1b9 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,11 +1,11 @@ - + SwerveAbsoluteEncoder - + diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index b3f32f7..dbee18d 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.encoders - + diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index 98afd72..eec3962 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.encoders Class Hierarchy - + diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index dcdf565..5f3d503 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,11 +1,11 @@ - + ADIS16448Swerve - + diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index 4fa63a6..35ea15c 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,11 +1,11 @@ - + ADIS16470Swerve - + diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index a410e97..c9eee05 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,11 +1,11 @@ - + ADXRS450Swerve - + diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index 6064c0e..d0666a8 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,11 +1,11 @@ - + AnalogGyroSwerve - + diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index d58abb0..a354f70 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,11 +1,11 @@ - + NavXSwerve - + diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index be4473f..15dc193 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,11 +1,11 @@ - + Pigeon2Swerve - + diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index 32b8a9d..fb6a207 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,11 +1,11 @@ - + PigeonSwerve - + diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index ac53fce..8d11b1e 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,11 +1,11 @@ - + SwerveIMU - + diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index fd6cafd..68ee45b 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.imu - + diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index 7dd7d62..2ee619b 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.imu Class Hierarchy - + diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html index cdb88c1..bb8431b 100644 --- a/docs/swervelib/math/Matter.html +++ b/docs/swervelib/math/Matter.html @@ -1,11 +1,11 @@ - + Matter - + diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index 635a8f3..99254a7 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,11 +1,11 @@ - + SwerveMath - + diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index 8280488..1df650c 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.math - + diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 61474a1..f6c3ff4 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.math Class Hierarchy - + diff --git a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html index 1f2b352..187396c 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkFlexSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkFlexSwerve.html b/docs/swervelib/motors/SparkFlexSwerve.html index 5b005ba..80fd40a 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.html +++ b/docs/swervelib/motors/SparkFlexSwerve.html @@ -1,11 +1,11 @@ - + SparkFlexSwerve - + diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html index f15b07f..885dce4 100644 --- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html +++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxBrushedMotorSwerve - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index 8b73371..e292410 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index 2c8092e..26de12c 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve - + diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index fc00fa6..d520e3f 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,11 +1,11 @@ - + SwerveMotor - + diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index 2d23076..9968d5f 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,11 +1,11 @@ - + TalonFXSwerve - + diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index 86d96da..3c2ff0b 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,11 +1,11 @@ - + TalonSRXSwerve - + diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index 47811f0..28192ea 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.motors - + diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index 58b8155..a738a57 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.motors Class Hierarchy - + diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index bcae0ee..a9929c4 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,11 +1,11 @@ - + swervelib - + diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index f90d037..9d80d84 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,11 +1,11 @@ - + swervelib Class Hierarchy - + diff --git a/docs/swervelib/parser/Cache.html b/docs/swervelib/parser/Cache.html index d7e92e6..36b6041 100644 --- a/docs/swervelib/parser/Cache.html +++ b/docs/swervelib/parser/Cache.html @@ -1,11 +1,11 @@ - + Cache - + diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index b0678b1..6c6ad1e 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,11 +1,11 @@ - + PIDFConfig - + diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 4082d43..04f4116 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,11 +1,11 @@ - + SwerveControllerConfiguration - + diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index 20ae71c..cb2ced0 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,11 +1,11 @@ - + SwerveDriveConfiguration - + diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index 514e258..5987191 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,11 +1,11 @@ - + SwerveModuleConfiguration - + diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 65866c6..7eb3c06 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,11 +1,11 @@ - + SwerveModulePhysicalCharacteristics - + diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index a534a15..c75f7e0 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,11 +1,11 @@ - + SwerveParser - + diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 530e716..8b0d579 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,11 +1,11 @@ - + PIDFRange - + diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index 4a496f1..b93b396 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer - + diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index 4d7ca64..cdd14e3 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer Class Hierarchy - + diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index 07de58b..9267f53 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,11 +1,11 @@ - + ControllerPropertiesJson - + diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index 271ca3d..8ec6a7d 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,11 +1,11 @@ - + DeviceJson - + diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index e2bf964..7c71911 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,11 +1,11 @@ - + ModuleJson - + diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index 21f3922..6b6f5b1 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,11 +1,11 @@ - + MotorConfigDouble - + diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index 1ec696b..8b6b787 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,11 +1,11 @@ - + MotorConfigInt - + diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index e148b79..9765457 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,11 +1,11 @@ - + PIDFPropertiesJson - + diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index 11fcd4c..a4be922 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,11 +1,11 @@ - + PhysicalPropertiesJson - + diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 1269dbd..b4ecbda 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,11 +1,11 @@ - + SwerveDriveJson - + diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index a0cdf64..eee80c8 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,11 +1,11 @@ - + BoolMotorJson - + diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index 374e4cc..2014499 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,11 +1,11 @@ - + LocationJson - + diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index 89c212a..5cd47a1 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules - + diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index 43078e5..17a07fb 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules Class Hierarchy - + diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index d226510..fd37ced 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json - + diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 818f644..2c547b6 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json Class Hierarchy - + diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index 7c741f3..d8f034d 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser - + diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index 1819a6e..27a4918 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser Class Hierarchy - + diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index e033cdd..aed15f4 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,11 +1,11 @@ - + SwerveIMUSimulation - + diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index af76077..4baa7fc 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,11 +1,11 @@ - + SwerveModuleSimulation - + diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 426a50f..016c9ea 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation - + diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 3e3172a..73d8d44 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation Class Hierarchy - + diff --git a/docs/swervelib/telemetry/Alert.AlertType.html b/docs/swervelib/telemetry/Alert.AlertType.html index aac98ee..d86e64f 100644 --- a/docs/swervelib/telemetry/Alert.AlertType.html +++ b/docs/swervelib/telemetry/Alert.AlertType.html @@ -1,11 +1,11 @@ - + Alert.AlertType - + diff --git a/docs/swervelib/telemetry/Alert.SendableAlerts.html b/docs/swervelib/telemetry/Alert.SendableAlerts.html index 972d009..02412e2 100644 --- a/docs/swervelib/telemetry/Alert.SendableAlerts.html +++ b/docs/swervelib/telemetry/Alert.SendableAlerts.html @@ -1,11 +1,11 @@ - + Alert.SendableAlerts - + diff --git a/docs/swervelib/telemetry/Alert.html b/docs/swervelib/telemetry/Alert.html index d5a2c65..4405af4 100644 --- a/docs/swervelib/telemetry/Alert.html +++ b/docs/swervelib/telemetry/Alert.html @@ -1,11 +1,11 @@ - + Alert - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index d082eb9..7d58db8 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry.TelemetryVerbosity - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index 618359b..f2fd7ba 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry - + diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index ee9920d..e4777b0 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.telemetry - + diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index 7f0d7d5..a29de93 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.telemetry Class Hierarchy - + diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index a99f880..98c2f5c 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -839,9 +839,9 @@ public class SwerveDrive module.maxSpeed = maximumSpeed; if (updateModuleFeedforward) { - module.feedforward = SwerveMath.createDriveFeedforward(optimalVoltage, - maximumSpeed, - swerveDriveConfiguration.physicalCharacteristics.wheelGripCoefficientOfFriction); + module.setFeedforward(SwerveMath.createDriveFeedforward(optimalVoltage, + maximumSpeed, + swerveDriveConfiguration.physicalCharacteristics.wheelGripCoefficientOfFriction)); } } } @@ -851,7 +851,7 @@ public class SwerveDrive * {@link SwerveDrive#setRawModuleStates(SwerveModuleState[], boolean)} function and * {@link SwerveController#getTargetSpeeds(double, double, double, double, double)} functions. This function overrides * what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the - * {@link SwerveModule#feedforward}. + * {@link SwerveModule#setFeedforward(SimpleMotorFeedforward)}. * * @param maximumSpeed Maximum speed for the drive motors in meters / second. */ @@ -908,13 +908,13 @@ public class SwerveDrive /** * Setup the swerve module feedforward. * - * @param feedforward Feedforward for the drive motor on swerve modules. + * @param driveFeedforward Feedforward for the drive motor on swerve modules. */ - public void replaceSwerveModuleFeedforward(SimpleMotorFeedforward feedforward) + public void replaceSwerveModuleFeedforward(SimpleMotorFeedforward driveFeedforward) { for (SwerveModule swerveModule : swerveModules) { - swerveModule.feedforward = feedforward; + swerveModule.setFeedforward(driveFeedforward); } } @@ -1114,7 +1114,7 @@ public class SwerveDrive { for (SwerveModule module : swerveModules) { - module.configuration.driveMotor.setPosition(0); + module.getDriveMotor().setPosition(0); } } diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index 0957211..61bb591 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -9,6 +9,7 @@ import swervelib.encoders.SwerveAbsoluteEncoder; import swervelib.math.SwerveMath; import swervelib.motors.SwerveMotor; import swervelib.parser.Cache; +import swervelib.parser.PIDFConfig; import swervelib.parser.SwerveModuleConfiguration; import swervelib.simulation.SwerveModuleSimulation; import swervelib.telemetry.Alert; @@ -78,13 +79,17 @@ public class SwerveModule */ public int moduleNumber; /** - * Feedforward for drive motor during closed loop control. + * Feedforward for the drive motor during closed loop control. */ - public SimpleMotorFeedforward feedforward; + private SimpleMotorFeedforward driveMotorFeedforward; /** * Maximum speed of the drive motors in meters per second. */ public double maxSpeed; + /** + * Anti-Jitter AKA auto-centering disabled. + */ + private boolean antiJitterEnabled = true; /** * Last swerve module state applied. */ @@ -122,8 +127,8 @@ public class SwerveModule configuration = moduleConfiguration; angleOffset = moduleConfiguration.angleOffset; - // Initialize Feedforward for drive motor. - feedforward = driveFeedforward; + // Initialize Feedforwards. + driveMotorFeedforward = driveFeedforward; // Create motors from configuration and reset them to defaults. angleMotor = moduleConfiguration.angleMotor; @@ -236,6 +241,76 @@ public class SwerveModule } } + /** + * Set the antiJitter functionality, if true the modules will NOT auto center. Pushes the offsets to the angle motor + * controllers as well. + * + * @param antiJitter Anti-Jitter state desired. + */ + public void setAntiJitter(boolean antiJitter) + { + this.antiJitterEnabled = antiJitter; + if (antiJitter) + { + pushOffsetsToControllers(); + } else + { + restoreInternalOffset(); + } + } + + /** + * Set the feedforward attributes to the given parameters. + * + * @param drive Drive motor feedforward for the module. + */ + public void setFeedforward(SimpleMotorFeedforward drive) + { + this.driveMotorFeedforward = drive; + } + + /** + * Set the drive PIDF values. + * + * @param config {@link PIDFConfig} of that should be set. + */ + public void setDrivePIDF(PIDFConfig config) + { + configuration.velocityPIDF = config; + driveMotor.configurePIDF(config); + } + + /** + * Get the current drive motor PIDF values. + * + * @return {@link PIDFConfig} of the drive motor. + */ + public PIDFConfig getDrivePIDF() + { + return configuration.velocityPIDF; + } + + /** + * Set the angle/azimuth/steering motor PID + * + * @param config {@link PIDFConfig} of that should be set. + */ + public void setAnglePIDF(PIDFConfig config) + { + configuration.anglePIDF = config; + angleMotor.configurePIDF(config); + } + + /** + * Get the current angle/azimuth/steering motor PIDF values. + * + * @return {@link PIDFConfig} of the angle motor. + */ + public PIDFConfig getAnglePIDF() + { + return configuration.anglePIDF; + } + /** * Set the desired state of the swerve module.
    WARNING: If you are not using one of the functions from * {@link SwerveDrive} you may screw up {@link SwerveDrive#kinematics} @@ -250,7 +325,7 @@ public class SwerveModule desiredState = SwerveModuleState.optimize(desiredState, Rotation2d.fromDegrees(getAbsolutePosition())); // If we are forcing the angle - if (!force) + if (!force && antiJitterEnabled) { // Prevents module rotation if speed is less than 1% SwerveMath.antiJitter(desiredState, lastState, Math.min(maxSpeed, 4)); @@ -267,7 +342,7 @@ public class SwerveModule driveMotor.set(percentOutput); } else { - driveMotor.setReference(velocity, feedforward.calculate(velocity)); + driveMotor.setReference(velocity, driveMotorFeedforward.calculate(velocity)); desiredState.speedMetersPerSecond = velocity; } @@ -507,7 +582,7 @@ public class SwerveModule */ public void pushOffsetsToControllers() { - if (absoluteEncoder != null) + if (absoluteEncoder != null && angleOffset == configuration.angleOffset) { if (absoluteEncoder.setAbsoluteEncoderOffset(angleOffset)) {