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Update 2024.4.8.6

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thenetworkgrinch
2024-02-28 13:25:59 -06:00
parent 8d79dcb8b0
commit 9a2eb4e74f
111 changed files with 503 additions and 291 deletions
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docs/swervelib/SwerveDrive.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Feb 12 18:58:20 CST 2024 -->
<!-- Generated by javadoc (17) on Wed Feb 28 13:21:31 CST 2024 -->
<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-02-12">
<meta name="dc.created" content="2024-02-28">
<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -399,7 +399,7 @@ loadScripts(document, 'script');</script>
<div class="block">Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.</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="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Setup the swerve module feedforward.</div>
</div>
@@ -934,8 +934,8 @@ loadScripts(document, 'script');</script>
boolean&nbsp;isOpenLoop,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</span></div>
<div class="block">The primary method for controlling the drivebase. Takes a <code>ChassisSpeeds</code>, 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.</div>
states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Applies
heading correction if enabled and necessary.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>velocity</code> - The chassis speeds to set the robot to achieve.</dd>
@@ -991,7 +991,7 @@ loadScripts(document, 'script');</script>
<h3>setRawModuleStates</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setRawModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</span></div>
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.</div>
<div class="block">Set the module states (azimuth and velocity) directly.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredStates</code> - A list of SwerveModuleStates to send to the modules.</dd>
@@ -1226,7 +1226,7 @@ loadScripts(document, 'script');</script>
<a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> 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
<a href="SwerveModule.html#feedforward"><code>SwerveModule.feedforward</code></a>.</div>
<a href="SwerveModule.html#setFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)"><code>SwerveModule.setFeedforward(SimpleMotorFeedforward)</code></a>.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>maximumSpeed</code> - Maximum speed for the drive motors in meters / second.</dd>
@@ -1257,11 +1257,11 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)">
<h3>replaceSwerveModuleFeedforward</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">replaceSwerveModuleFeedforward</span><wbr><span class="parameters">(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">replaceSwerveModuleFeedforward</span><wbr><span class="parameters">(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward)</span></div>
<div class="block">Setup the swerve module feedforward.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>feedforward</code> - Feedforward for the drive motor on swerve modules.</dd>
<dd><code>driveFeedforward</code> - Feedforward for the drive motor on swerve modules.</dd>
</dl>
</section>
</li>