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diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index d08d4c5..4717846 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,278 +1,193 @@ - - + A-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

A

-
-
absoluteEncoder - Variable in class swervelib.motors.SparkMaxSwerve
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

A

+
+
absoluteEncoder - Variable in class swervelib.motors.SparkMaxSwerve
Absolute encoder attached to the SparkMax (if exists)
-
absoluteEncoder - Variable in class swervelib.motors.TalonFXSwerve
+
absoluteEncoder - Variable in class swervelib.motors.TalonFXSwerve
Whether the absolute encoder is integrated.
-
absoluteEncoder - Variable in class swervelib.motors.TalonSRXSwerve
+
absoluteEncoder - Variable in class swervelib.motors.TalonSRXSwerve
Whether the absolute encoder is integrated.
-
absoluteEncoder - Variable in class swervelib.parser.SwerveModuleConfiguration
+
absoluteEncoder - Variable in class swervelib.parser.SwerveModuleConfiguration
The Absolute Encoder for the swerve module.
-
absoluteEncoder - Variable in class swervelib.SwerveModule
+
absoluteEncoder - Variable in class swervelib.SwerveModule
Absolute encoder for swerve drive.
-
absoluteEncoderInverted - Variable in class swervelib.parser.json.ModuleJson
+
absoluteEncoderInverted - Variable in class swervelib.parser.json.ModuleJson
Absolute encoder inversion state.
-
absoluteEncoderInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
+
absoluteEncoderInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
Whether the absolute encoder is inverted.
-
absoluteEncoderOffset - Variable in class swervelib.parser.json.ModuleJson
+
absoluteEncoderOffset - Variable in class swervelib.parser.json.ModuleJson
Absolute encoder offset from 0 in degrees.
-
angle - Variable in class swervelib.math.SwerveModuleState2
-
 
-
angle - Variable in class swervelib.parser.json.ModuleJson
+
angle - Variable in class swervelib.math.SwerveModuleState2
+
+
Swerve module angle as a Rotation2d.
+
+
angle - Variable in class swervelib.parser.json.ModuleJson
Angle motor device configuration.
-
angle - Variable in class swervelib.parser.json.modules.BoolMotorJson
+
angle - Variable in class swervelib.parser.json.modules.BoolMotorJson
Angle motor inversion state.
-
angle - Variable in class swervelib.parser.json.MotorConfigDouble
+
angle - Variable in class swervelib.parser.json.MotorConfigDouble
Angle motor.
-
angle - Variable in class swervelib.parser.json.MotorConfigInt
+
angle - Variable in class swervelib.parser.json.MotorConfigInt
Angle motor.
-
angle - Variable in class swervelib.parser.json.PIDFPropertiesJson
+
angle - Variable in class swervelib.parser.json.PIDFPropertiesJson
The PIDF with Integral Zone used for the angle motor.
-
angle - Variable in class swervelib.SwerveDrive
+
angle - Variable in class swervelib.SwerveDrive
The current angle of the robot and last time odometry during simulations.
-
angle - Variable in class swervelib.SwerveModule
+
angle - Variable in class swervelib.SwerveModule
Current state.
-
angleEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
angleEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Angle motor encoder pulse per rotation.
-
angleGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
angleGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Angle gear ratio.
-
angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson
+
angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson
The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
-
angleJoyStickRadiusDeadband - Variable in class swervelib.parser.SwerveControllerConfiguration
+
angleJoyStickRadiusDeadband - Variable in class swervelib.parser.SwerveControllerConfiguration
hypotenuse deadband for the robot angle control joystick.
-
angleKV - Variable in class swervelib.parser.SwerveModuleConfiguration
+
angleKV - Variable in class swervelib.parser.SwerveModuleConfiguration
Angle volt-meter-per-second.
-
angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
+
angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
The drive motor and angle motor of this swerve module.
-
angleMotor - Variable in class swervelib.SwerveModule
+
angleMotor - Variable in class swervelib.SwerveModule
Swerve Motors.
-
angleMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
angleMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Current limits for the Swerve Module.
-
angleMotorFreeSpeedRPM - Variable in class swervelib.parser.json.PhysicalPropertiesJson
+
angleMotorFreeSpeedRPM - Variable in class swervelib.parser.json.PhysicalPropertiesJson
Angle motor free speed rotations per minute.
-
angleMotorFreeSpeedRPM - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
angleMotorFreeSpeedRPM - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Free speed rotations per minute of the motor, as described by the vendor.
-
angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
+
angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
State of inversion of the angle motor.
-
angleMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
angleMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
The time it takes for the motor to go from 0 to full throttle in seconds.
-
angleOffset - Variable in class swervelib.parser.SwerveModuleConfiguration
+
angleOffset - Variable in class swervelib.parser.SwerveModuleConfiguration
Angle offset in degrees for the Swerve Module.
-
angleOffset - Variable in class swervelib.SwerveModule
+
angleOffset - Variable in class swervelib.SwerveModule
Angle offset from the absolute encoder.
-
anglePIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
+
anglePIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
PIDF configuration options for the angle motor closed-loop PID controller.
-
applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath
+
applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath
Algebraically apply a deadband using a piece wise function.
-
AUXILIARY_PID - swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
 
+
AUXILIARY_PID - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
+
+
Secondary PID for talons.
+
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- diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index fbd12c3..121c26b 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,154 +1,65 @@ - - + K-Index + - + + + - + - - - - - + + - - -
+
+ +
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A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

K

-
-
kinematics - Variable in class swervelib.SwerveDrive
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

K

+
+
kinematics - Variable in class swervelib.SwerveDrive
Swerve Kinematics object utilizing second order kinematics.
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- diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 992ff13..6d4593d 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,181 +1,96 @@ - - + L-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

L

-
-
lastAngle - Variable in class swervelib.SwerveController
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

L

+
+
lastAngle - Variable in class swervelib.SwerveController
Last angle to robot was set to.
-
lastAngle - Variable in class swervelib.SwerveModule
+
lastAngle - Variable in class swervelib.SwerveModule
Last angle set for the swerve module.
-
lastTime - Variable in class swervelib.SwerveDrive
+
lastTime - Variable in class swervelib.SwerveDrive
The current angle of the robot and last time odometry during simulations.
-
lastTime - Variable in class swervelib.SwerveModule
+
lastTime - Variable in class swervelib.SwerveModule
Current state.
-
limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, double, Translation3d, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
+
limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, double, Translation3d, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
Limits a commanded velocity to prevent exceeding the maximum acceleration given by SwerveMath.calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration).
-
location - Variable in class swervelib.parser.json.ModuleJson
+
location - Variable in class swervelib.parser.json.ModuleJson
The location of the swerve module from the center of the robot in inches.
-
LocationJson - Class in swervelib.parser.json.modules
+
LocationJson - Class in swervelib.parser.json.modules
Location JSON parsed class.
-
LocationJson() - Constructor for class swervelib.parser.json.modules.LocationJson
+
LocationJson() - Constructor for class swervelib.parser.json.modules.LocationJson
 
+
lock() - Method in class swervelib.SwerveDrive
+
+
Lock the swerve drive to prevent it from moving.
+
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- diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index f7db7de..e719236 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,264 +1,191 @@ - - + M-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

M

-
-
m_forwardKinematics - Variable in class swervelib.math.SwerveKinematics2
-
 
-
m_inverseKinematics - Variable in class swervelib.math.SwerveKinematics2
-
 
-
m_modules - Variable in class swervelib.math.SwerveKinematics2
-
 
-
m_moduleStates - Variable in class swervelib.math.SwerveKinematics2
-
 
-
m_numModules - Variable in class swervelib.math.SwerveKinematics2
-
 
-
m_prevCoR - Variable in class swervelib.math.SwerveKinematics2
-
 
-
max - Variable in class swervelib.parser.deserializer.PIDFRange
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

M

+
+
m_forwardKinematics - Variable in class swervelib.math.SwerveKinematics2
+
+
Forward kinematics matrix.
+
+
m_inverseKinematics - Variable in class swervelib.math.SwerveKinematics2
+
+
Inverse kinematics matrix.
+
+
m_modules - Variable in class swervelib.math.SwerveKinematics2
+
+
Location of each swerve module in meters.
+
+
m_moduleStates - Variable in class swervelib.math.SwerveKinematics2
+
+
Swerve module states.
+
+
m_numModules - Variable in class swervelib.math.SwerveKinematics2
+
+
Number of swerve modules.
+
+
m_prevCoR - Variable in class swervelib.math.SwerveKinematics2
+
+
Previous CoR
+
+
max - Variable in class swervelib.parser.deserializer.PIDFRange
Maximum value.
-
maxAngularVelocity - Variable in class swervelib.parser.SwerveControllerConfiguration
+
maxAngularVelocity - Variable in class swervelib.parser.SwerveControllerConfiguration
Maximum angular velocity in rad/s
-
maxSpeed - Variable in class swervelib.parser.json.SwerveDriveJson
+
maxSpeed - Variable in class swervelib.parser.json.SwerveDriveJson
Maximum robot speed in feet per second.
-
maxSpeed - Variable in class swervelib.parser.SwerveControllerConfiguration
+
maxSpeed - Variable in class swervelib.parser.SwerveControllerConfiguration
Maximum robot speed in meters per second.
-
maxSpeed - Variable in class swervelib.parser.SwerveDriveConfiguration
+
maxSpeed - Variable in class swervelib.parser.SwerveDriveConfiguration
Max speed in meters per second.
-
maxSpeed - Variable in class swervelib.parser.SwerveModuleConfiguration
+
maxSpeed - Variable in class swervelib.parser.SwerveModuleConfiguration
Maximum robot speed in meters per second.
-
min - Variable in class swervelib.parser.deserializer.PIDFRange
+
min - Variable in class swervelib.parser.deserializer.PIDFRange
Minimum value.
-
moduleConfigs - Static variable in class swervelib.parser.SwerveParser
-
 
-
moduleCount - Variable in class swervelib.parser.SwerveDriveConfiguration
+
moduleConfigs - Static variable in class swervelib.parser.SwerveParser
+
+
Module number mapped to the JSON name.
+
+
moduleCount - Variable in class swervelib.parser.SwerveDriveConfiguration
Number of modules on the robot.
-
ModuleJson - Class in swervelib.parser.json
+
ModuleJson - Class in swervelib.parser.json
SwerveModule JSON parsed class.
-
ModuleJson() - Constructor for class swervelib.parser.json.ModuleJson
+
ModuleJson() - Constructor for class swervelib.parser.json.ModuleJson
 
-
moduleJsons - Static variable in class swervelib.parser.SwerveParser
+
moduleJsons - Static variable in class swervelib.parser.SwerveParser
Array holding the module jsons given in SwerveDriveJson.
-
moduleLocation - Variable in class swervelib.parser.SwerveModuleConfiguration
+
moduleLocation - Variable in class swervelib.parser.SwerveModuleConfiguration
Swerve module location relative to the robot.
-
moduleLocationsMeters - Variable in class swervelib.parser.SwerveDriveConfiguration
+
moduleLocationsMeters - Variable in class swervelib.parser.SwerveDriveConfiguration
Swerve Module locations.
-
moduleNumber - Variable in class swervelib.SwerveModule
+
moduleNumber - Variable in class swervelib.SwerveModule
Module number for kinematics, usually 0 to 3.
-
modules - Variable in class swervelib.parser.json.SwerveDriveJson
+
modules - Variable in class swervelib.parser.json.SwerveDriveJson
Module JSONs in order clockwise order starting from front left.
-
modules - Variable in class swervelib.parser.SwerveDriveConfiguration
+
modules - Variable in class swervelib.parser.SwerveDriveConfiguration
Swerve Modules.
-
MotionProfile - swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
 
-
motor - Variable in class swervelib.motors.SparkMaxSwerve
+
MotionProfile - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
+
+
Slot 3, meant for motion profiles.
+
+
motor - Variable in class swervelib.motors.SparkMaxSwerve
SparkMAX Instance.
-
motor - Variable in class swervelib.motors.TalonFXSwerve
+
motor - Variable in class swervelib.motors.TalonFXSwerve
TalonFX motor controller.
-
motor - Variable in class swervelib.motors.TalonSRXSwerve
+
motor - Variable in class swervelib.motors.TalonSRXSwerve
TalonSRX motor controller.
-
MotorConfigDouble - Class in swervelib.parser.json
+
MotorConfigDouble - Class in swervelib.parser.json
Used to store doubles for motor configuration.
-
MotorConfigDouble() - Constructor for class swervelib.parser.json.MotorConfigDouble
+
MotorConfigDouble() - Constructor for class swervelib.parser.json.MotorConfigDouble
Default constructor.
-
MotorConfigDouble(double, double) - Constructor for class swervelib.parser.json.MotorConfigDouble
+
MotorConfigDouble(double, double) - Constructor for class swervelib.parser.json.MotorConfigDouble
Default constructor.
-
MotorConfigInt - Class in swervelib.parser.json
+
MotorConfigInt - Class in swervelib.parser.json
Used to store ints for motor configuration.
-
MotorConfigInt() - Constructor for class swervelib.parser.json.MotorConfigInt
+
MotorConfigInt() - Constructor for class swervelib.parser.json.MotorConfigInt
Default constructor.
-
MotorConfigInt(int, int) - Constructor for class swervelib.parser.json.MotorConfigInt
+
MotorConfigInt(int, int) - Constructor for class swervelib.parser.json.MotorConfigInt
Default constructor with values.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 937546a..bea492b 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,158 +1,69 @@ - - + N-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

N

-
-
NavXSwerve - Class in swervelib.imu
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

N

+
+
NavXSwerve - Class in swervelib.imu
Communicates with the NavX as the IMU.
-
NavXSwerve() - Constructor for class swervelib.imu.NavXSwerve
+
NavXSwerve() - Constructor for class swervelib.imu.NavXSwerve
Constructor for the NavX swerve.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index 314fc74..c6ea037 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,174 +1,85 @@ - - + O-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

O

-
-
omega - Variable in class swervelib.SwerveModule
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

O

+
+
omega - Variable in class swervelib.SwerveModule
Current state.
-
omegaRadPerSecond - Variable in class swervelib.math.SwerveModuleState2
+
omegaRadPerSecond - Variable in class swervelib.math.SwerveModuleState2
Rad per sec
-
openJson(File) - Method in class swervelib.parser.SwerveParser
+
openJson(File) - Method in class swervelib.parser.SwerveParser
Open JSON file.
-
optimalVoltage - Variable in class swervelib.parser.json.SwerveDriveJson
+
optimalVoltage - Variable in class swervelib.parser.json.SwerveDriveJson
Optimal voltage to compensate to and base feedforward calculations off of.
-
optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Optimal voltage of the robot.
-
output - Variable in class swervelib.parser.PIDFConfig
+
output - Variable in class swervelib.parser.PIDFConfig
The PIDF output range.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 9a4cb08..935367f 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,244 +1,159 @@ - - + P-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

P

-
-
p - Variable in class swervelib.parser.PIDFConfig
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

P

+
+
p - Variable in class swervelib.parser.PIDFConfig
Proportional Gain for PID.
-
physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration
+
physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration
Physical characteristics of the swerve module.
-
physicalPropertiesJson - Static variable in class swervelib.parser.SwerveParser
+
physicalPropertiesJson - Static variable in class swervelib.parser.SwerveParser
Parsed modules/physicalproperties.json
-
PhysicalPropertiesJson - Class in swervelib.parser.json
+
PhysicalPropertiesJson - Class in swervelib.parser.json
SwerveModulePhysicalCharacteristics parsed data.
-
PhysicalPropertiesJson() - Constructor for class swervelib.parser.json.PhysicalPropertiesJson
+
PhysicalPropertiesJson() - Constructor for class swervelib.parser.json.PhysicalPropertiesJson
 
-
pid - Variable in class swervelib.motors.SparkMaxSwerve
+
pid - Variable in class swervelib.motors.SparkMaxSwerve
Closed-loop PID controller.
-
PIDFConfig - Class in swervelib.parser
+
PIDFConfig - Class in swervelib.parser
Hold the PIDF and Integral Zone values for a PID.
-
PIDFConfig() - Constructor for class swervelib.parser.PIDFConfig
+
PIDFConfig() - Constructor for class swervelib.parser.PIDFConfig
Used when parsing PIDF values from JSON.
-
PIDFConfig(double, double) - Constructor for class swervelib.parser.PIDFConfig
+
PIDFConfig(double, double) - Constructor for class swervelib.parser.PIDFConfig
PIDF Config constructor to contain the values.
-
PIDFConfig(double, double, double) - Constructor for class swervelib.parser.PIDFConfig
+
PIDFConfig(double, double, double) - Constructor for class swervelib.parser.PIDFConfig
PIDF Config constructor to contain the values.
-
PIDFConfig(double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
+
PIDFConfig(double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
PIDF Config constructor to contain the values.
-
PIDFConfig(double, double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
+
PIDFConfig(double, double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
PIDF Config constructor to contain the values.
-
pidfPropertiesJson - Static variable in class swervelib.parser.SwerveParser
+
pidfPropertiesJson - Static variable in class swervelib.parser.SwerveParser
Parsed modules/pidfproperties.json
-
PIDFPropertiesJson - Class in swervelib.parser.json
+
PIDFPropertiesJson - Class in swervelib.parser.json
SwerveModule PID with Feedforward for the drive motor and angle motor.
-
PIDFPropertiesJson() - Constructor for class swervelib.parser.json.PIDFPropertiesJson
+
PIDFPropertiesJson() - Constructor for class swervelib.parser.json.PIDFPropertiesJson
 
-
PIDFRange - Class in swervelib.parser.deserializer
+
PIDFRange - Class in swervelib.parser.deserializer
Class to hold the minimum and maximum input or output of the PIDF.
-
PIDFRange() - Constructor for class swervelib.parser.deserializer.PIDFRange
+
PIDFRange() - Constructor for class swervelib.parser.deserializer.PIDFRange
 
-
Pigeon2Swerve - Class in swervelib.imu
+
Pigeon2Swerve - Class in swervelib.imu
SwerveIMU interface for the Pigeon2
-
Pigeon2Swerve(int) - Constructor for class swervelib.imu.Pigeon2Swerve
+
Pigeon2Swerve(int) - Constructor for class swervelib.imu.Pigeon2Swerve
Generate the SwerveIMU for pigeon.
-
Pigeon2Swerve(int, String) - Constructor for class swervelib.imu.Pigeon2Swerve
+
Pigeon2Swerve(int, String) - Constructor for class swervelib.imu.Pigeon2Swerve
Generate the SwerveIMU for pigeon.
-
PigeonSwerve - Class in swervelib.imu
+
PigeonSwerve - Class in swervelib.imu
SwerveIMU interface for the Pigeon.
-
PigeonSwerve(int) - Constructor for class swervelib.imu.PigeonSwerve
+
PigeonSwerve(int) - Constructor for class swervelib.imu.PigeonSwerve
Generate the SwerveIMU for pigeon.
-
Position - swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
 
-
positionConversionFactor - Variable in class swervelib.motors.TalonFXSwerve
+
Position - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
+
+
Slot 1, used for position PID's.
+
+
positionConversionFactor - Variable in class swervelib.motors.TalonFXSwerve
The position conversion factor.
-
positionConversionFactor - Variable in class swervelib.motors.TalonSRXSwerve
+
positionConversionFactor - Variable in class swervelib.motors.TalonSRXSwerve
The position conversion factor.
-
PRIMARY_PID - swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
 
+
PRIMARY_PID - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
+
+
Primary PID for talons.
+
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
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-
- diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 2920065..38c2af1 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,166 +1,81 @@ - - + R-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

R

-
-
rampRate - Variable in class swervelib.parser.json.PhysicalPropertiesJson
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

R

+
+
rampRate - Variable in class swervelib.parser.json.PhysicalPropertiesJson
The minimum number of seconds to take for the motor to go from 0 to full throttle.
-
REMOTE_SENSOR_0 - swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
-
 
-
REMOTE_SENSOR_1 - swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
-
 
-
replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive
+
REMOTE_SENSOR_0 - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
+
+
Remote sensor 0.
+
+
REMOTE_SENSOR_1 - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
+
+
Remote sensor 1.
+
+
replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive
Setup the swerve module feedforward.
-
resetOdometry(Pose2d) - Method in class swervelib.SwerveDrive
+
resetOdometry(Pose2d) - Method in class swervelib.SwerveDrive
Resets odometry to the given pose.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
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-
- diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 1e8d4b2..02cbc57 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,406 +1,365 @@ - - + S-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

S

-
-
set(double) - Method in class swervelib.motors.SparkMaxSwerve
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

S

+
+
set(double) - Method in class swervelib.motors.SparkMaxSwerve
Set the percentage output.
-
set(double) - Method in class swervelib.motors.SwerveMotor
+
set(double) - Method in class swervelib.motors.SwerveMotor
Set the percentage output.
-
set(double) - Method in class swervelib.motors.TalonFXSwerve
+
set(double) - Method in class swervelib.motors.TalonFXSwerve
Set the percentage output.
-
set(double) - Method in class swervelib.motors.TalonSRXSwerve
+
set(double) - Method in class swervelib.motors.TalonSRXSwerve
Set the percentage output.
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxSwerve
+
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxSwerve
Set the absolute encoder to be a compatible absolute encoder.
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SwerveMotor
+
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SwerveMotor
Set the absolute encoder to be a compatible absolute encoder.
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSwerve
+
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSwerve
Set the absolute encoder to be a compatible absolute encoder.
-
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonSRXSwerve
+
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonSRXSwerve
Set the absolute encoder to be a compatible absolute encoder.
-
setAngle(double) - Method in class swervelib.SwerveModule
+
setAngle(double) - Method in class swervelib.SwerveModule
Set the angle for the module.
-
setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
+
setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
Set field-relative chassis speeds with closed-loop velocity control.
-
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxSwerve
+
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxSwerve
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
-
setCurrentLimit(int) - Method in class swervelib.motors.SwerveMotor
+
setCurrentLimit(int) - Method in class swervelib.motors.SwerveMotor
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
-
setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSwerve
+
setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSwerve
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
-
setCurrentLimit(int) - Method in class swervelib.motors.TalonSRXSwerve
+
setCurrentLimit(int) - Method in class swervelib.motors.TalonSRXSwerve
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
-
setDesiredState(SwerveModuleState2, boolean) - Method in class swervelib.SwerveModule
+
setDesiredState(SwerveModuleState2, boolean) - Method in class swervelib.SwerveModule
Set the desired state of the swerve module.
-
setDriveBrake() - Method in class swervelib.SwerveDrive
+
setDriveBrake() - Method in class swervelib.SwerveDrive
Point all modules toward the robot center, thus making the robot very difficult to move.
-
setInverted(boolean) - Method in class swervelib.motors.SparkMaxSwerve
+
setInverted(boolean) - Method in class swervelib.motors.SparkMaxSwerve
Set the motor to be inverted.
-
setInverted(boolean) - Method in class swervelib.motors.SwerveMotor
+
setInverted(boolean) - Method in class swervelib.motors.SwerveMotor
Set the motor to be inverted.
-
setInverted(boolean) - Method in class swervelib.motors.TalonFXSwerve
+
setInverted(boolean) - Method in class swervelib.motors.TalonFXSwerve
Set the motor to be inverted.
-
setInverted(boolean) - Method in class swervelib.motors.TalonSRXSwerve
+
setInverted(boolean) - Method in class swervelib.motors.TalonSRXSwerve
Set the motor to be inverted.
-
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxSwerve
+
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxSwerve
Set the maximum rate the open/closed loop output can change by.
-
setLoopRampRate(double) - Method in class swervelib.motors.SwerveMotor
+
setLoopRampRate(double) - Method in class swervelib.motors.SwerveMotor
Set the maximum rate the open/closed loop output can change by.
-
setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSwerve
+
setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSwerve
Set the maximum rate the open/closed loop output can change by.
-
setLoopRampRate(double) - Method in class swervelib.motors.TalonSRXSwerve
+
setLoopRampRate(double) - Method in class swervelib.motors.TalonSRXSwerve
Set the maximum rate the open/closed loop output can change by.
-
setModuleStates(SwerveModuleState2[], boolean) - Method in class swervelib.SwerveDrive
+
setModuleStates(SwerveModuleState2[], boolean) - Method in class swervelib.SwerveDrive
Set the module states (azimuth and velocity) directly.
-
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxSwerve
+
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxSwerve
Set the idle mode.
-
setMotorBrake(boolean) - Method in class swervelib.motors.SwerveMotor
+
setMotorBrake(boolean) - Method in class swervelib.motors.SwerveMotor
Set the idle mode.
-
setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSwerve
+
setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSwerve
Set the idle mode.
-
setMotorBrake(boolean) - Method in class swervelib.motors.TalonSRXSwerve
+
setMotorBrake(boolean) - Method in class swervelib.motors.TalonSRXSwerve
Set the idle mode.
-
setMotorBrake(boolean) - Method in class swervelib.SwerveDrive
+
setMotorBrake(boolean) - Method in class swervelib.SwerveDrive
Sets the drive motors to brake/coast mode.
-
setMotorBrake(boolean) - Method in class swervelib.SwerveModule
+
setMotorBrake(boolean) - Method in class swervelib.SwerveModule
Set the brake mode.
-
setPosition(double) - Method in class swervelib.motors.SparkMaxSwerve
+
setPosition(double) - Method in class swervelib.motors.SparkMaxSwerve
Set the integrated encoder position.
-
setPosition(double) - Method in class swervelib.motors.SwerveMotor
+
setPosition(double) - Method in class swervelib.motors.SwerveMotor
Set the integrated encoder position.
-
setPosition(double) - Method in class swervelib.motors.TalonFXSwerve
+
setPosition(double) - Method in class swervelib.motors.TalonFXSwerve
Set the integrated encoder position.
-
setPosition(double) - Method in class swervelib.motors.TalonSRXSwerve
+
setPosition(double) - Method in class swervelib.motors.TalonSRXSwerve
Set the integrated encoder position.
-
setReference(double, double) - Method in class swervelib.motors.SparkMaxSwerve
+
setReference(double, double) - Method in class swervelib.motors.SparkMaxSwerve
Set the closed loop PID controller reference point.
-
setReference(double, double) - Method in class swervelib.motors.SwerveMotor
+
setReference(double, double) - Method in class swervelib.motors.SwerveMotor
Set the closed loop PID controller reference point.
-
setReference(double, double) - Method in class swervelib.motors.TalonFXSwerve
+
setReference(double, double) - Method in class swervelib.motors.TalonFXSwerve
Set the closed loop PID controller reference point.
-
setReference(double, double) - Method in class swervelib.motors.TalonSRXSwerve
+
setReference(double, double) - Method in class swervelib.motors.TalonSRXSwerve
Set the closed loop PID controller reference point.
-
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxSwerve
+
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxSwerve
Set the voltage compensation for the swerve module motor.
-
setVoltageCompensation(double) - Method in class swervelib.motors.SwerveMotor
+
setVoltageCompensation(double) - Method in class swervelib.motors.SwerveMotor
Set the voltage compensation for the swerve module motor.
-
setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSwerve
+
setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSwerve
Set the voltage compensation for the swerve module motor.
-
setVoltageCompensation(double) - Method in class swervelib.motors.TalonSRXSwerve
+
setVoltageCompensation(double) - Method in class swervelib.motors.TalonSRXSwerve
Set the voltage compensation for the swerve module motor.
-
setYaw(double) - Method in class swervelib.imu.NavXSwerve
+
setYaw(double) - Method in class swervelib.imu.NavXSwerve
Set the yaw in degrees.
-
setYaw(double) - Method in class swervelib.imu.Pigeon2Swerve
+
setYaw(double) - Method in class swervelib.imu.Pigeon2Swerve
Set the yaw in degrees.
-
setYaw(double) - Method in class swervelib.imu.PigeonSwerve
+
setYaw(double) - Method in class swervelib.imu.PigeonSwerve
Set the yaw in degrees.
-
setYaw(double) - Method in class swervelib.imu.SwerveIMU
+
setYaw(double) - Method in class swervelib.imu.SwerveIMU
Set the yaw in degrees.
-
Simulation - swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
+
Simulation - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
+
+
Slot 3, used arbitrarily.
+
+
SparkMAX_slotIdx() - Constructor for enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
 
-
SparkMAX_slotIdx() - Constructor for enum swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
 
-
SparkMaxEncoderSwerve - Class in swervelib.encoders
+
SparkMaxEncoderSwerve - Class in swervelib.encoders
SparkMax absolute encoder, attached through the data port.
-
SparkMaxEncoderSwerve(SwerveMotor) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve
+
SparkMaxEncoderSwerve(SwerveMotor) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve
Create the AbsoluteEncoder object as a duty cycle.
-
SparkMaxSwerve - Class in swervelib.motors
+
SparkMaxSwerve - Class in swervelib.motors
An implementation of CANSparkMax as a SwerveMotor.
-
SparkMaxSwerve(int, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
+
SparkMaxSwerve(int, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
-
SparkMaxSwerve(CANSparkMax, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
+
SparkMaxSwerve(CANSparkMax, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
Initialize the swerve motor.
-
SparkMaxSwerve.SparkMAX_slotIdx - Enum in swervelib.motors
+
SparkMaxSwerve.SparkMAX_slotIdx - Enum Class in swervelib.motors
REV Slots for PID configuration.
-
speed - Variable in class swervelib.SwerveModule
+
speed - Variable in class swervelib.SwerveModule
Current state.
-
speedMetersPerSecond - Variable in class swervelib.math.SwerveModuleState2
-
 
-
SwerveAbsoluteEncoder - Class in swervelib.encoders
+
speedMetersPerSecond - Variable in class swervelib.math.SwerveModuleState2
+
+
Swerve module speed in meters per second.
+
+
SwerveAbsoluteEncoder - Class in swervelib.encoders
Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
-
SwerveAbsoluteEncoder() - Constructor for class swervelib.encoders.SwerveAbsoluteEncoder
+
SwerveAbsoluteEncoder() - Constructor for class swervelib.encoders.SwerveAbsoluteEncoder
 
-
swerveController - Variable in class swervelib.SwerveDrive
+
swerveController - Variable in class swervelib.SwerveDrive
Swerve controller for controlling heading of the robot.
-
SwerveController - Class in swervelib
+
SwerveController - Class in swervelib
Controller class used to convert raw inputs into robot speeds.
-
SwerveController(SwerveControllerConfiguration) - Constructor for class swervelib.SwerveController
+
SwerveController(SwerveControllerConfiguration) - Constructor for class swervelib.SwerveController
Construct the SwerveController object which is used for determining the speeds of the robot based on controller input.
-
SwerveControllerConfiguration - Class in swervelib.parser
+
SwerveControllerConfiguration - Class in swervelib.parser
Swerve Controller configuration class which is used to configure SwerveController.
-
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig) - Constructor for class swervelib.parser.SwerveControllerConfiguration
+
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig) - Constructor for class swervelib.parser.SwerveControllerConfiguration
Construct the swerve controller configuration.
-
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
+
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
Construct the swerve controller configuration.
-
SwerveDrive - Class in swervelib
+
SwerveDrive - Class in swervelib
Swerve Drive class representing and controlling the swerve drive.
-
SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration) - Constructor for class swervelib.SwerveDrive
+
SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration) - Constructor for class swervelib.SwerveDrive
Creates a new swerve drivebase subsystem.
-
swerveDriveConfiguration - Variable in class swervelib.SwerveDrive
+
swerveDriveConfiguration - Variable in class swervelib.SwerveDrive
Swerve drive configuration.
-
SwerveDriveConfiguration - Class in swervelib.parser
+
SwerveDriveConfiguration - Class in swervelib.parser
Swerve drive configurations used during SwerveDrive construction.
-
SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, double, boolean) - Constructor for class swervelib.parser.SwerveDriveConfiguration
+
SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, double, boolean) - Constructor for class swervelib.parser.SwerveDriveConfiguration
Create swerve drive configuration.
-
swerveDriveJson - Static variable in class swervelib.parser.SwerveParser
+
swerveDriveJson - Static variable in class swervelib.parser.SwerveParser
Parsed swervedrive.json
-
SwerveDriveJson - Class in swervelib.parser.json
+
SwerveDriveJson - Class in swervelib.parser.json
SwerveDrive JSON parsed class.
-
SwerveDriveJson() - Constructor for class swervelib.parser.json.SwerveDriveJson
+
SwerveDriveJson() - Constructor for class swervelib.parser.json.SwerveDriveJson
 
-
swerveDrivePoseEstimator - Variable in class swervelib.SwerveDrive
+
swerveDrivePoseEstimator - Variable in class swervelib.SwerveDrive
Swerve odometry.
-
SwerveIMU - Class in swervelib.imu
+
SwerveIMU - Class in swervelib.imu
Swerve IMU abstraction to define a standard interface with a swerve drive.
-
SwerveIMU() - Constructor for class swervelib.imu.SwerveIMU
+
SwerveIMU() - Constructor for class swervelib.imu.SwerveIMU
 
-
SwerveKinematics2 - Class in swervelib.math
+
SwerveKinematics2 - Class in swervelib.math
Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis speed.
-
SwerveKinematics2(Translation2d...) - Constructor for class swervelib.math.SwerveKinematics2
+
SwerveKinematics2(Translation2d...) - Constructor for class swervelib.math.SwerveKinematics2
Constructs a swerve drive kinematics object.
@@ -422,125 +381,85 @@ $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
 
swervelib.parser.json.modules - package swervelib.parser.json.modules
 
-
SwerveMath - Class in swervelib.math
+
SwerveMath - Class in swervelib.math
Mathematical functions which pertain to swerve drive.
-
SwerveMath() - Constructor for class swervelib.math.SwerveMath
+
SwerveMath() - Constructor for class swervelib.math.SwerveMath
 
-
SwerveModule - Class in swervelib
+
SwerveModule - Class in swervelib
The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
-
SwerveModule(int, SwerveModuleConfiguration) - Constructor for class swervelib.SwerveModule
+
SwerveModule(int, SwerveModuleConfiguration) - Constructor for class swervelib.SwerveModule
Construct the swerve module and initialize the swerve module motors and absolute encoder.
-
SwerveModuleConfiguration - Class in swervelib.parser
+
SwerveModuleConfiguration - Class in swervelib.parser
Swerve Module configuration class which is used to configure SwerveModule.
-
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics) - Constructor for class swervelib.parser.SwerveModuleConfiguration
+
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics) - Constructor for class swervelib.parser.SwerveModuleConfiguration
Construct a configuration object for swerve modules.
-
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean) - Constructor for class swervelib.parser.SwerveModuleConfiguration
+
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean) - Constructor for class swervelib.parser.SwerveModuleConfiguration
Construct a configuration object for swerve modules.
-
SwerveModulePhysicalCharacteristics - Class in swervelib.parser
+
SwerveModulePhysicalCharacteristics - Class in swervelib.parser
Configuration class which stores physical characteristics shared between every swerve module.
-
SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
+
SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
Construct the swerve module physical characteristics.
-
SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int, double, double, int, int) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
+
SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int, double, double, int, int) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
Construct the swerve module physical characteristics.
-
swerveModules - Variable in class swervelib.SwerveDrive
+
swerveModules - Variable in class swervelib.SwerveDrive
Swerve modules.
-
SwerveModuleState2 - Class in swervelib.math
+
SwerveModuleState2 - Class in swervelib.math
Second order kinematics swerve module state.
-
SwerveModuleState2() - Constructor for class swervelib.math.SwerveModuleState2
+
SwerveModuleState2() - Constructor for class swervelib.math.SwerveModuleState2
Constructs a SwerveModuleState with zeros for speed and angle.
-
SwerveModuleState2(double, Rotation2d, double) - Constructor for class swervelib.math.SwerveModuleState2
+
SwerveModuleState2(double, Rotation2d, double) - Constructor for class swervelib.math.SwerveModuleState2
Constructs a SwerveModuleState.
-
SwerveMotor - Class in swervelib.motors
+
SwerveMotor - Class in swervelib.motors
Swerve motor abstraction which defines a standard interface for motors within a swerve module.
-
SwerveMotor() - Constructor for class swervelib.motors.SwerveMotor
+
SwerveMotor() - Constructor for class swervelib.motors.SwerveMotor
 
-
SwerveParser - Class in swervelib.parser
+
SwerveParser - Class in swervelib.parser
Helper class used to parse the JSON directory with specified configuration options.
-
SwerveParser(File) - Constructor for class swervelib.parser.SwerveParser
+
SwerveParser(File) - Constructor for class swervelib.parser.SwerveParser
Construct a swerve parser.
-
synchronizeEncoders() - Method in class swervelib.SwerveModule
+
synchronizeEncoders() - Method in class swervelib.SwerveModule
Synchronize the integrated angle encoder with the absolute encoder.
+
synchronizeModuleEncoders() - Method in class swervelib.SwerveDrive
+
+
Synchronize angle motor integrated encoders with data from absolute encoders.
+
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-
- diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index f03f080..4012044 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,226 +1,141 @@ - - + T-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

T

-
-
TalonFXSwerve - Class in swervelib.motors
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

T

+
+
TalonFXSwerve - Class in swervelib.motors
TalonFX Swerve Motor.
-
TalonFXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
+
TalonFXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
Construct the TalonFX swerve motor given the ID.
-
TalonFXSwerve(int, String, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
+
TalonFXSwerve(int, String, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
Construct the TalonFX swerve motor given the ID and CANBus.
-
TalonFXSwerve(WPI_TalonFX, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
+
TalonFXSwerve(WPI_TalonFX, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
Constructor for TalonFX swerve motor.
-
TalonSRXSwerve - Class in swervelib.motors
+
TalonSRXSwerve - Class in swervelib.motors
WPI_TalonSRX Swerve Motor.
-
TalonSRXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
+
TalonSRXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
Construct the TalonSRX swerve motor given the ID.
-
TalonSRXSwerve(WPI_TalonSRX, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
+
TalonSRXSwerve(WPI_TalonSRX, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
Constructor for TalonSRX swerve motor.
-
TalonSRXSwerve.CTRE_pidIdx - Enum in swervelib.motors
+
TalonSRXSwerve.CTRE_pidIdx - Enum Class in swervelib.motors
The Talon PID to use onboard.
-
TalonSRXSwerve.CTRE_remoteSensor - Enum in swervelib.motors
+
TalonSRXSwerve.CTRE_remoteSensor - Enum Class in swervelib.motors
The remote sensor.
-
TalonSRXSwerve.CTRE_slotIdx - Enum in swervelib.motors
+
TalonSRXSwerve.CTRE_slotIdx - Enum Class in swervelib.motors
The Talon SRX Slot profile used to configure the motor to use for the PID.
-
thetaController - Variable in class swervelib.SwerveController
+
thetaController - Variable in class swervelib.SwerveController
PID Controller for the robot heading.
-
THIRD_PID - swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
 
-
time - Variable in class swervelib.SwerveModule
+
THIRD_PID - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
+
+
Third PID slot for talons.
+
+
time - Variable in class swervelib.SwerveModule
Timer for simulation.
-
timer - Variable in class swervelib.SwerveDrive
+
timer - Variable in class swervelib.SwerveDrive
Time during simulations.
-
toChassisSpeeds(SwerveModuleState2...) - Method in class swervelib.math.SwerveKinematics2
+
toChassisSpeeds(SwerveModuleState2...) - Method in class swervelib.math.SwerveKinematics2
Performs forward kinematics to return the resulting chassis state from the given module states.
-
toSwerveModuleStates(ChassisSpeeds) - Method in class swervelib.math.SwerveKinematics2
+
toSwerveModuleStates(ChassisSpeeds) - Method in class swervelib.math.SwerveKinematics2
Performs inverse kinematics.
-
toSwerveModuleStates(ChassisSpeeds, Translation2d) - Method in class swervelib.math.SwerveKinematics2
+
toSwerveModuleStates(ChassisSpeeds, Translation2d) - Method in class swervelib.math.SwerveKinematics2
Performs inverse kinematics to return the module states from a desired chassis velocity.
-
toTwist2d(SwerveModulePosition...) - Method in class swervelib.math.SwerveKinematics2
+
toTwist2d(SwerveModulePosition...) - Method in class swervelib.math.SwerveKinematics2
Performs forward kinematics to return the resulting chassis state from the given module states.
-
Turning - swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
 
-
type - Variable in class swervelib.parser.json.DeviceJson
+
Turning - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
+
+
Slot 1, meant for turning PID's.
+
+
type - Variable in class swervelib.parser.json.DeviceJson
The device type, e.g.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
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-
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+
+ +
-
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U

-
-
updateOdometry() - Method in class swervelib.SwerveDrive
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

U

+
+
updateOdometry() - Method in class swervelib.SwerveDrive
Update odometry should be run every loop.
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-
- diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 50ad68e..f32dd63 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,174 +1,87 @@ - - + B-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

B

-
-
bigInverseKinematics - Variable in class swervelib.math.SwerveKinematics2
-
 
-
BoolMotorJson - Class in swervelib.parser.json.modules
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

B

+
+
bigInverseKinematics - Variable in class swervelib.math.SwerveKinematics2
+
+
Second order kinematics inverse matrix.
+
+
BoolMotorJson - Class in swervelib.parser.json.modules
Inverted motor JSON parsed class.
-
BoolMotorJson() - Constructor for class swervelib.parser.json.modules.BoolMotorJson
+
BoolMotorJson() - Constructor for class swervelib.parser.json.modules.BoolMotorJson
 
-
burnFlash() - Method in class swervelib.motors.SparkMaxSwerve
+
burnFlash() - Method in class swervelib.motors.SparkMaxSwerve
Save the configurations from flash to EEPROM.
-
burnFlash() - Method in class swervelib.motors.SwerveMotor
+
burnFlash() - Method in class swervelib.motors.SwerveMotor
Save the configurations from flash to EEPROM.
-
burnFlash() - Method in class swervelib.motors.TalonFXSwerve
+
burnFlash() - Method in class swervelib.motors.TalonFXSwerve
Save the configurations from flash to EEPROM.
-
burnFlash() - Method in class swervelib.motors.TalonSRXSwerve
+
burnFlash() - Method in class swervelib.motors.TalonSRXSwerve
Save the configurations from flash to EEPROM.
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+
+ +
-
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All Classes All Packages - - -

V

-
-
valueOf(String) - Static method in enum swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

V

+
+
valueOf(String) - Static method in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
Returns the enum constant of this type with the specified name.
+
Returns the enum constant of this class with the specified name.
-
valueOf(String) - Static method in enum swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
+
valueOf(String) - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
Returns the enum constant of this type with the specified name.
+
Returns the enum constant of this class with the specified name.
-
valueOf(String) - Static method in enum swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
+
valueOf(String) - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
-
Returns the enum constant of this type with the specified name.
+
Returns the enum constant of this class with the specified name.
-
valueOf(String) - Static method in enum swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
+
valueOf(String) - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
Returns the enum constant of this type with the specified name.
+
Returns the enum constant of this class with the specified name.
-
values() - Static method in enum swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
+
values() - Static method in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
Returns an array containing the constants of this enum type, in +
Returns an array containing the constants of this enum class, in the order they are declared.
-
values() - Static method in enum swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
+
values() - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
Returns an array containing the constants of this enum type, in +
Returns an array containing the constants of this enum class, in the order they are declared.
-
values() - Static method in enum swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
+
values() - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
-
Returns an array containing the constants of this enum type, in +
Returns an array containing the constants of this enum class, in the order they are declared.
-
values() - Static method in enum swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
+
values() - Static method in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
Returns an array containing the constants of this enum type, in +
Returns an array containing the constants of this enum class, in the order they are declared.
-
Velocity - swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
-
 
-
Velocity - swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
 
-
velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
+
Velocity - Enum constant in enum class swervelib.motors.SparkMaxSwerve.SparkMAX_slotIdx
+
+
Slot 2, used for velocity PID's.
+
+
Velocity - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
+
+
Slot 2, meant for velocity PID's.
+
+
velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
PIDF configuration options for the drive motor closed-loop PID controller.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
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-
- diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index eb4635a..ff99812 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,170 +1,81 @@ - - + W-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

W

-
-
wheelDiameter - Variable in class swervelib.parser.json.PhysicalPropertiesJson
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

W

+
+
wheelDiameter - Variable in class swervelib.parser.json.PhysicalPropertiesJson
Wheel diameter in inches.
-
wheelDiameter - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
wheelDiameter - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Wheel diameter in meters.
-
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson
+
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson
The grip tape coefficient of friction on carpet.
-
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Wheel grip tape coefficient of friction on carpet, as described by the vendor.
-
withinHypotDeadband(double, double) - Method in class swervelib.SwerveController
+
withinHypotDeadband(double, double) - Method in class swervelib.SwerveController
Calculate the hypot deadband and check if the joystick is within it.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
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-
- diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 23d0924..43b393c 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,154 +1,65 @@ - - + X-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

X

-
-
x - Variable in class swervelib.parser.json.modules.LocationJson
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

X

+
+
x - Variable in class swervelib.parser.json.modules.LocationJson
Location of the swerve module in inches from the center of the robot horizontally.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index fb9e32b..d39e66a 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,158 +1,69 @@ - - + Y-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

Y

-
-
y - Variable in class swervelib.parser.json.modules.LocationJson
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

Y

+
+
y - Variable in class swervelib.parser.json.modules.LocationJson
Location of the swerve module in inches from the center of the robot vertically.
-
yawOffset - Variable in class swervelib.imu.NavXSwerve
+
yawOffset - Variable in class swervelib.imu.NavXSwerve
Offset for the NavX yaw reading.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
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-
- diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index f599370..a101b0e 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,154 +1,65 @@ - - + Z-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

Z

-
-
zeroGyro() - Method in class swervelib.SwerveDrive
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

Z

+
+
zeroGyro() - Method in class swervelib.SwerveDrive
Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
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-
- diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 3ef6033..7da97c3 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,379 +1,290 @@ - - + C-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

C

-
-
calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

C

+
+
calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
Calculates the maximum acceleration allowed in a direction without tipping the robot.
-
calculateAngleKV(double, double, double) - Static method in class swervelib.math.SwerveMath
+
calculateAngleKV(double, double, double) - Static method in class swervelib.math.SwerveMath
Calculate the angle kV which will be multiplied by the radians per second for the feedforward.
-
calculateDegreesPerSteeringRotation(double, double) - Static method in class swervelib.math.SwerveMath
+
calculateDegreesPerSteeringRotation(double, double) - Static method in class swervelib.math.SwerveMath
Calculate the degrees per steering rotation for the integrated encoder.
-
calculateMaxAcceleration(double) - Static method in class swervelib.math.SwerveMath
+
calculateMaxAcceleration(double) - Static method in class swervelib.math.SwerveMath
Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
-
calculateMaxAcceleration(double, double, double, double, double) - Static method in class swervelib.math.SwerveMath
+
calculateMaxAcceleration(double, double, double, double, double) - Static method in class swervelib.math.SwerveMath
Calculate the maximum theoretical acceleration without friction.
-
calculateMaxAngularVelocity(double, double, double) - Static method in class swervelib.math.SwerveMath
+
calculateMaxAngularVelocity(double, double, double) - Static method in class swervelib.math.SwerveMath
Calculate the maximum angular velocity.
-
calculateMetersPerRotation(double, double, double) - Static method in class swervelib.math.SwerveMath
+
calculateMetersPerRotation(double, double, double) - Static method in class swervelib.math.SwerveMath
Calculate the meters per rotation for the integrated encoder.
-
canbus - Variable in class swervelib.parser.json.DeviceJson
+
canbus - Variable in class swervelib.parser.json.DeviceJson
The CAN bus name which the device resides on if using CAN.
-
CANCoderSwerve - Class in swervelib.encoders
+
CANCoderSwerve - Class in swervelib.encoders
Swerve Absolute Encoder for CTRE CANCoders.
-
CANCoderSwerve(int) - Constructor for class swervelib.encoders.CANCoderSwerve
+
CANCoderSwerve(int) - Constructor for class swervelib.encoders.CANCoderSwerve
Initialize the CANCoder on the standard CANBus.
-
CANCoderSwerve(int, String) - Constructor for class swervelib.encoders.CANCoderSwerve
+
CANCoderSwerve(int, String) - Constructor for class swervelib.encoders.CANCoderSwerve
Initialize the CANCoder on the CANivore.
-
checkDirectory(File) - Method in class swervelib.parser.SwerveParser
+
checkDirectory(File) - Method in class swervelib.parser.SwerveParser
Check directory structure.
-
clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve
+
clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve
Clear sticky faults on the encoder.
-
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
+
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
Clear sticky faults on the encoder.
-
clearStickyFaults() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
+
clearStickyFaults() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
Clear sticky faults on the encoder.
-
clearStickyFaults() - Method in class swervelib.imu.NavXSwerve
+
clearStickyFaults() - Method in class swervelib.imu.NavXSwerve
Clear sticky faults on IMU.
-
clearStickyFaults() - Method in class swervelib.imu.Pigeon2Swerve
+
clearStickyFaults() - Method in class swervelib.imu.Pigeon2Swerve
Clear sticky faults on IMU.
-
clearStickyFaults() - Method in class swervelib.imu.PigeonSwerve
+
clearStickyFaults() - Method in class swervelib.imu.PigeonSwerve
Clear sticky faults on IMU.
-
clearStickyFaults() - Method in class swervelib.imu.SwerveIMU
+
clearStickyFaults() - Method in class swervelib.imu.SwerveIMU
Clear sticky faults on IMU.
-
clearStickyFaults() - Method in class swervelib.motors.SparkMaxSwerve
+
clearStickyFaults() - Method in class swervelib.motors.SparkMaxSwerve
Clear the sticky faults on the motor controller.
-
clearStickyFaults() - Method in class swervelib.motors.SwerveMotor
+
clearStickyFaults() - Method in class swervelib.motors.SwerveMotor
Clear the sticky faults on the motor controller.
-
clearStickyFaults() - Method in class swervelib.motors.TalonFXSwerve
+
clearStickyFaults() - Method in class swervelib.motors.TalonFXSwerve
Clear the sticky faults on the motor controller.
-
clearStickyFaults() - Method in class swervelib.motors.TalonSRXSwerve
+
clearStickyFaults() - Method in class swervelib.motors.TalonSRXSwerve
Clear the sticky faults on the motor controller.
-
config - Variable in class swervelib.SwerveController
+
config - Variable in class swervelib.SwerveController
SwerveControllerConfiguration object storing data to generate the PIDController for controlling the robot heading, and deadband for heading joystick.
-
configuration - Variable in class swervelib.SwerveModule
+
configuration - Variable in class swervelib.SwerveModule
Swerve module configuration options.
-
configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve
+
configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve
Configure the absolute encoder to read from [0, 360) per second.
-
configure(boolean) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
+
configure(boolean) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
Configure the absolute encoder to read from [0, 360) per second.
-
configure(boolean) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
+
configure(boolean) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
Configure the absolute encoder to read from [0, 360) per second.
-
configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxSwerve
+
configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxSwerve
Set the CAN status frames.
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxSwerve
+
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxSwerve
Configure the integrated encoder for the swerve module.
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.SwerveMotor
+
configureIntegratedEncoder(double) - Method in class swervelib.motors.SwerveMotor
Configure the integrated encoder for the swerve module.
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSwerve
+
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSwerve
Configure the integrated encoder for the swerve module.
-
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonSRXSwerve
+
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonSRXSwerve
Configure the integrated encoder for the swerve module.
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxSwerve
+
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxSwerve
Configure the PIDF values for the closed loop controller.
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SwerveMotor
+
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SwerveMotor
Configure the PIDF values for the closed loop controller.
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSwerve
+
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSwerve
Configure the PIDF values for the closed loop controller.
-
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonSRXSwerve
+
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonSRXSwerve
Configure the PIDF values for the closed loop controller.
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxSwerve
+
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxSwerve
Configure the PID wrapping for the position closed loop controller.
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.SwerveMotor
+
configurePIDWrapping(double, double) - Method in class swervelib.motors.SwerveMotor
Configure the PID wrapping for the position closed loop controller.
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSwerve
+
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSwerve
Configure the PID wrapping for the position closed loop controller.
-
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonSRXSwerve
+
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonSRXSwerve
Configure the PID wrapping for the position closed loop controller.
-
controllerPropertiesJson - Static variable in class swervelib.parser.SwerveParser
+
controllerPropertiesJson - Static variable in class swervelib.parser.SwerveParser
Parsed controllerproperties.json
-
ControllerPropertiesJson - Class in swervelib.parser.json
+
ControllerPropertiesJson - Class in swervelib.parser.json
SwerveController parsed class.
-
ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
+
ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
 
-
createControllerConfiguration(SwerveDriveConfiguration) - Method in class swervelib.parser.json.ControllerPropertiesJson
+
createControllerConfiguration(SwerveDriveConfiguration) - Method in class swervelib.parser.json.ControllerPropertiesJson
Create the SwerveControllerConfiguration based on parsed and given data.
-
createDriveFeedforward() - Method in class swervelib.parser.SwerveModuleConfiguration
+
createDriveFeedforward() - Method in class swervelib.parser.SwerveModuleConfiguration
Create the drive feedforward for swerve modules.
-
createEncoder() - Method in class swervelib.parser.json.DeviceJson
+
createEncoder() - Method in class swervelib.parser.json.DeviceJson
Create a SwerveAbsoluteEncoder from the current configuration.
-
createIMU() - Method in class swervelib.parser.json.DeviceJson
+
createIMU() - Method in class swervelib.parser.json.DeviceJson
Create a SwerveIMU from the given configuration.
-
createIntegratedEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson
+
createIntegratedEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson
Create a SwerveAbsoluteEncoder from the data port on the motor controller.
-
createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics) - Method in class swervelib.parser.json.ModuleJson
+
createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics) - Method in class swervelib.parser.json.ModuleJson
Create the swerve module configuration based off of parsed data.
-
createModules(SwerveModuleConfiguration[]) - Method in class swervelib.parser.SwerveDriveConfiguration
+
createModules(SwerveModuleConfiguration[]) - Method in class swervelib.parser.SwerveDriveConfiguration
Create modules based off of the SwerveModuleConfiguration.
-
createMotor(boolean) - Method in class swervelib.parser.json.DeviceJson
+
createMotor(boolean) - Method in class swervelib.parser.json.DeviceJson
Create a SwerveMotor from the given configuration.
-
createPhysicalProperties(double) - Method in class swervelib.parser.json.PhysicalPropertiesJson
+
createPhysicalProperties(double) - Method in class swervelib.parser.json.PhysicalPropertiesJson
Create the physical characteristics based off the parsed data.
-
createPIDController() - Method in class swervelib.parser.PIDFConfig
+
createPIDController() - Method in class swervelib.parser.PIDFConfig
Create a PIDController from the PID values.
-
createSwerveDrive() - Method in class swervelib.parser.SwerveParser
+
createSwerveDrive() - Method in class swervelib.parser.SwerveParser
Create SwerveDrive from JSON configuration directory.
-
CTRE_pidIdx() - Constructor for enum swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
+
CTRE_pidIdx() - Constructor for enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
 
-
CTRE_remoteSensor() - Constructor for enum swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
+
CTRE_remoteSensor() - Constructor for enum class swervelib.motors.TalonSRXSwerve.CTRE_remoteSensor
 
-
CTRE_slotIdx() - Constructor for enum swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
+
CTRE_slotIdx() - Constructor for enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
 
-
currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson
+
currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson
The current limit in AMPs to apply to the motors.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 5186433..3fb5442 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,227 +1,140 @@ - - + D-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

D

-
-
d - Variable in class swervelib.parser.PIDFConfig
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

D

+
+
d - Variable in class swervelib.parser.PIDFConfig
Derivative Gain for PID.
-
desaturateWheelSpeeds(SwerveModuleState2[], double) - Static method in class swervelib.math.SwerveKinematics2
+
desaturateWheelSpeeds(SwerveModuleState2[], double) - Static method in class swervelib.math.SwerveKinematics2
Renormalizes the wheel speeds if any individual speed is above the specified maximum.
-
desaturateWheelSpeeds(SwerveModuleState2[], ChassisSpeeds, double, double, double) - Static method in class swervelib.math.SwerveKinematics2
+
desaturateWheelSpeeds(SwerveModuleState2[], ChassisSpeeds, double, double, double) - Static method in class swervelib.math.SwerveKinematics2
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.
-
DeviceJson - Class in swervelib.parser.json
+
DeviceJson - Class in swervelib.parser.json
Device JSON parsed class.
-
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
+
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
 
-
Distance - swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
-
 
-
drive - Variable in class swervelib.parser.json.ModuleJson
+
Distance - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_slotIdx
+
+
Slot 0, meant for distances PID's.
+
+
drive - Variable in class swervelib.parser.json.ModuleJson
Drive motor device configuration.
-
drive - Variable in class swervelib.parser.json.modules.BoolMotorJson
+
drive - Variable in class swervelib.parser.json.modules.BoolMotorJson
Drive motor inversion state.
-
drive - Variable in class swervelib.parser.json.MotorConfigDouble
+
drive - Variable in class swervelib.parser.json.MotorConfigDouble
Drive motor.
-
drive - Variable in class swervelib.parser.json.MotorConfigInt
+
drive - Variable in class swervelib.parser.json.MotorConfigInt
Drive motor.
-
drive - Variable in class swervelib.parser.json.PIDFPropertiesJson
+
drive - Variable in class swervelib.parser.json.PIDFPropertiesJson
The PIDF with Integral Zone used for the drive motor.
-
drive(Translation2d, double, boolean, boolean) - Method in class swervelib.SwerveDrive
+
drive(Translation2d, double, boolean, boolean) - Method in class swervelib.SwerveDrive
The primary method for controlling the drivebase.
-
driveEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
driveEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Drive motor encoder pulse per rotation.
-
driveGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
driveGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Drive gear ratio.
-
driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
+
driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
The drive motor and angle motor of this swerve module.
-
driveMotor - Variable in class swervelib.SwerveModule
+
driveMotor - Variable in class swervelib.SwerveModule
Swerve Motors.
-
driveMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
driveMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
Current limits for the Swerve Module.
-
driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
+
driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
State of inversion of the drive motor.
-
driveMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
driveMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
The time it takes for the motor to go from 0 to full throttle in seconds.
-
dt - Variable in class swervelib.SwerveModule
+
dt - Variable in class swervelib.SwerveModule
Current state.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index c8d3e0b..ac6f1cf 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,170 +1,81 @@ - - + E-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

E

-
-
encoder - Variable in class swervelib.encoders.CANCoderSwerve
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

E

+
+
encoder - Variable in class swervelib.encoders.CANCoderSwerve
CANCoder with WPILib sendable and support.
-
encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
+
encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
-
encoder - Variable in class swervelib.motors.SparkMaxSwerve
+
encoder - Variable in class swervelib.motors.SparkMaxSwerve
Integrated encoder.
-
encoder - Variable in class swervelib.parser.json.ModuleJson
+
encoder - Variable in class swervelib.parser.json.ModuleJson
Absolute encoder device configuration.
-
encoderPulsePerRotation - Variable in class swervelib.parser.json.PhysicalPropertiesJson
+
encoderPulsePerRotation - Variable in class swervelib.parser.json.PhysicalPropertiesJson
Encoder pulse per rotation for non-integrated encoders.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index 5b75309..c790771 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,224 +1,137 @@ - - + F-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

F

-
-
f - Variable in class swervelib.parser.PIDFConfig
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

F

+
+
f - Variable in class swervelib.parser.PIDFConfig
Feedforward value for PID.
-
factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve
+
factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve
Reset the encoder to factory defaults.
-
factoryDefault() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
+
factoryDefault() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
Reset the encoder to factory defaults.
-
factoryDefault() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
+
factoryDefault() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
Reset the encoder to factory defaults.
-
factoryDefault() - Method in class swervelib.imu.NavXSwerve
+
factoryDefault() - Method in class swervelib.imu.NavXSwerve
Reset IMU to factory default.
-
factoryDefault() - Method in class swervelib.imu.Pigeon2Swerve
+
factoryDefault() - Method in class swervelib.imu.Pigeon2Swerve
Reset IMU to factory default.
-
factoryDefault() - Method in class swervelib.imu.PigeonSwerve
+
factoryDefault() - Method in class swervelib.imu.PigeonSwerve
Reset IMU to factory default.
-
factoryDefault() - Method in class swervelib.imu.SwerveIMU
+
factoryDefault() - Method in class swervelib.imu.SwerveIMU
Reset IMU to factory default.
-
factoryDefaultOccurred - Variable in class swervelib.motors.SparkMaxSwerve
+
factoryDefaultOccurred - Variable in class swervelib.motors.SparkMaxSwerve
Factory default already occurred.
-
factoryDefaultOccurred - Variable in class swervelib.motors.TalonFXSwerve
+
factoryDefaultOccurred - Variable in class swervelib.motors.TalonFXSwerve
Factory default already occurred.
-
factoryDefaultOccurred - Variable in class swervelib.motors.TalonSRXSwerve
+
factoryDefaultOccurred - Variable in class swervelib.motors.TalonSRXSwerve
Factory default already occurred.
-
factoryDefaults() - Method in class swervelib.motors.SparkMaxSwerve
+
factoryDefaults() - Method in class swervelib.motors.SparkMaxSwerve
Configure the factory defaults.
-
factoryDefaults() - Method in class swervelib.motors.SwerveMotor
+
factoryDefaults() - Method in class swervelib.motors.SwerveMotor
Configure the factory defaults.
-
factoryDefaults() - Method in class swervelib.motors.TalonFXSwerve
+
factoryDefaults() - Method in class swervelib.motors.TalonFXSwerve
Configure the factory defaults.
-
factoryDefaults() - Method in class swervelib.motors.TalonSRXSwerve
+
factoryDefaults() - Method in class swervelib.motors.TalonSRXSwerve
Configure the factory defaults.
-
fakePos - Variable in class swervelib.SwerveModule
+
fakePos - Variable in class swervelib.SwerveModule
Current state.
-
feedforward - Variable in class swervelib.SwerveModule
+
feedforward - Variable in class swervelib.SwerveModule
Feedforward for drive motor during closed loop control.
-
field - Variable in class swervelib.SwerveDrive
+
field - Variable in class swervelib.SwerveDrive
Field object.
-
FOURTH_PID - swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
-
 
+
FOURTH_PID - Enum constant in enum class swervelib.motors.TalonSRXSwerve.CTRE_pidIdx
+
+
Fourth PID slot for talons.
+
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 2e5bff3..9b100c7 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,328 +1,249 @@ - - + G-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

G

-
-
gearRatio - Variable in class swervelib.parser.json.PhysicalPropertiesJson
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

G

+
+
gearRatio - Variable in class swervelib.parser.json.PhysicalPropertiesJson
Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
-
getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve
+
getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve
Get the instantiated absolute encoder Object.
-
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
+
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
Get the instantiated absolute encoder Object.
-
getAbsoluteEncoder() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
+
getAbsoluteEncoder() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
Get the instantiated absolute encoder Object.
-
getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve
+
getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve
Get the absolute position of the encoder.
-
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
+
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
Get the absolute position of the encoder.
-
getAbsolutePosition() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
+
getAbsolutePosition() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
Get the absolute position of the encoder.
-
getCANCoder() - Method in class swervelib.SwerveModule
+
getCANCoder() - Method in class swervelib.SwerveModule
Get the CANCoder absolute position.
-
getFieldVelocity() - Method in class swervelib.SwerveDrive
+
getFieldVelocity() - Method in class swervelib.SwerveDrive
Gets the current field-relative velocity (x, y and omega) of the robot
-
getIMU() - Method in class swervelib.imu.NavXSwerve
+
getGyroRotation3d() - Method in class swervelib.SwerveDrive
+
+
Gets the current gyro Rotation3d of the robot, as reported by the imu.
+
+
getIMU() - Method in class swervelib.imu.NavXSwerve
Get the instantiated IMU object.
-
getIMU() - Method in class swervelib.imu.Pigeon2Swerve
+
getIMU() - Method in class swervelib.imu.Pigeon2Swerve
Get the instantiated IMU object.
-
getIMU() - Method in class swervelib.imu.PigeonSwerve
+
getIMU() - Method in class swervelib.imu.PigeonSwerve
Get the instantiated IMU object.
-
getIMU() - Method in class swervelib.imu.SwerveIMU
+
getIMU() - Method in class swervelib.imu.SwerveIMU
Get the instantiated IMU object.
-
getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser
+
getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser
Get the swerve module by the json name.
-
getModulePositions() - Method in class swervelib.SwerveDrive
+
getModulePositions() - Method in class swervelib.SwerveDrive
Gets the current module positions (azimuth and wheel position (meters))
-
getMotor() - Method in class swervelib.motors.SparkMaxSwerve
+
getMotor() - Method in class swervelib.motors.SparkMaxSwerve
Get the motor object from the module.
-
getMotor() - Method in class swervelib.motors.SwerveMotor
+
getMotor() - Method in class swervelib.motors.SwerveMotor
Get the motor object from the module.
-
getMotor() - Method in class swervelib.motors.TalonFXSwerve
+
getMotor() - Method in class swervelib.motors.TalonFXSwerve
Get the motor object from the module.
-
getMotor() - Method in class swervelib.motors.TalonSRXSwerve
+
getMotor() - Method in class swervelib.motors.TalonSRXSwerve
Get the motor object from the module.
-
getPitch() - Method in class swervelib.SwerveDrive
+
getPitch() - Method in class swervelib.SwerveDrive
-
Gets the current yaw angle of the robot, as reported by the imu.
+
Gets the current pitch angle of the robot, as reported by the imu.
-
getPose() - Method in class swervelib.SwerveDrive
+
getPose() - Method in class swervelib.SwerveDrive
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
getPosition() - Method in class swervelib.motors.SparkMaxSwerve
+
getPosition() - Method in class swervelib.motors.SparkMaxSwerve
Get the position of the integrated encoder.
-
getPosition() - Method in class swervelib.motors.SwerveMotor
+
getPosition() - Method in class swervelib.motors.SwerveMotor
Get the position of the integrated encoder.
-
getPosition() - Method in class swervelib.motors.TalonFXSwerve
+
getPosition() - Method in class swervelib.motors.TalonFXSwerve
Get the position of the integrated encoder.
-
getPosition() - Method in class swervelib.motors.TalonSRXSwerve
+
getPosition() - Method in class swervelib.motors.TalonSRXSwerve
Get the position of the integrated encoder.
-
getPosition() - Method in class swervelib.SwerveModule
-
 
-
getPositionEncoderConversion(boolean) - Method in class swervelib.parser.SwerveModuleConfiguration
+
getPosition() - Method in class swervelib.SwerveModule
+
+
Get the position of the swerve module.
+
+
getPositionEncoderConversion(boolean) - Method in class swervelib.parser.SwerveModuleConfiguration
Get the encoder conversion for position encoders.
-
getRelativeEncoder() - Method in class swervelib.SwerveModule
+
getRelativeEncoder() - Method in class swervelib.SwerveModule
Get the relative encoder angle in degrees.
-
getRobotVelocity() - Method in class swervelib.SwerveDrive
+
getRobotVelocity() - Method in class swervelib.SwerveDrive
Gets the current robot-relative velocity (x, y and omega) of the robot
-
getState() - Method in class swervelib.SwerveModule
+
getRoll() - Method in class swervelib.SwerveDrive
+
+
Gets the current roll angle of the robot, as reported by the imu.
+
+
getState() - Method in class swervelib.SwerveModule
Get the Swerve Module state.
-
getStates() - Method in class swervelib.SwerveDrive
+
getStates() - Method in class swervelib.SwerveDrive
Gets the current module states (azimuth and velocity)
-
getSwerveModulePoses(Pose2d) - Method in class swervelib.SwerveDrive
+
getSwerveModulePoses(Pose2d) - Method in class swervelib.SwerveDrive
Get the swerve module poses and on the field relative to the robot.
-
getTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
+
getTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
Get the chassis speeds based on controller input of 1 joystick and a angle.
-
getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
+
getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
Get the chassis speeds based on controller input of 2 joysticks.
-
getTranslation2d(ChassisSpeeds) - Static method in class swervelib.SwerveController
+
getTranslation2d(ChassisSpeeds) - Static method in class swervelib.SwerveController
Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
-
getVelocity() - Method in class swervelib.motors.SparkMaxSwerve
+
getVelocity() - Method in class swervelib.motors.SparkMaxSwerve
Get the velocity of the integrated encoder.
-
getVelocity() - Method in class swervelib.motors.SwerveMotor
+
getVelocity() - Method in class swervelib.motors.SwerveMotor
Get the velocity of the integrated encoder.
-
getVelocity() - Method in class swervelib.motors.TalonFXSwerve
+
getVelocity() - Method in class swervelib.motors.TalonFXSwerve
Get the velocity of the integrated encoder.
-
getVelocity() - Method in class swervelib.motors.TalonSRXSwerve
+
getVelocity() - Method in class swervelib.motors.TalonSRXSwerve
Get the velocity of the integrated encoder.
-
getYaw() - Method in class swervelib.SwerveDrive
+
getYaw() - Method in class swervelib.SwerveDrive
Gets the current yaw angle of the robot, as reported by the imu.
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.NavXSwerve
+
getYawPitchRoll(double[]) - Method in class swervelib.imu.NavXSwerve
Fetch the yaw/pitch/roll from the IMU.
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.Pigeon2Swerve
+
getYawPitchRoll(double[]) - Method in class swervelib.imu.Pigeon2Swerve
Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.PigeonSwerve
+
getYawPitchRoll(double[]) - Method in class swervelib.imu.PigeonSwerve
Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.SwerveIMU
+
getYawPitchRoll(double[]) - Method in class swervelib.imu.SwerveIMU
Fetch the yaw/pitch/roll from the IMU.
-
gyro - Variable in class swervelib.imu.NavXSwerve
+
gyro - Variable in class swervelib.imu.NavXSwerve
NavX IMU.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index e357c41..e1f7438 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,158 +1,69 @@ - - + H-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

H

-
-
heading - Variable in class swervelib.parser.json.ControllerPropertiesJson
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

H

+
+
heading - Variable in class swervelib.parser.json.ControllerPropertiesJson
The PID used to control the robot heading.
-
headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration
+
headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration
PIDF for the heading of the robot.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index 166fabb..9922e96 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,212 +1,125 @@ - - + I-Index + - + + + - + - - - - - + + - - -
+
+ +
-
A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages - - -

I

-
-
i - Variable in class swervelib.parser.PIDFConfig
+
+

Index

+
+A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes and Interfaces|All Packages|Constant Field Values +

I

+
+
i - Variable in class swervelib.parser.PIDFConfig
Integral Gain for PID.
-
id - Variable in class swervelib.parser.json.DeviceJson
+
id - Variable in class swervelib.parser.json.DeviceJson
The CAN ID or pin ID of the device.
-
imu - Variable in class swervelib.imu.Pigeon2Swerve
+
imu - Variable in class swervelib.imu.Pigeon2Swerve
Pigeon2 IMU device.
-
imu - Variable in class swervelib.imu.PigeonSwerve
-
 
-
imu - Variable in class swervelib.parser.json.SwerveDriveJson
+
imu - Variable in class swervelib.imu.PigeonSwerve
+
+
Pigeon v1 IMU device.
+
+
imu - Variable in class swervelib.parser.json.SwerveDriveJson
Robot IMU used to determine heading of the robot.
-
imu - Variable in class swervelib.parser.SwerveDriveConfiguration
+
imu - Variable in class swervelib.parser.SwerveDriveConfiguration
Swerve IMU
-
imu - Variable in class swervelib.SwerveDrive
+
imu - Variable in class swervelib.SwerveDrive
Swerve IMU device for sensing the heading of the robot.
-
inverted - Variable in class swervelib.parser.json.ModuleJson
+
inverted - Variable in class swervelib.parser.json.ModuleJson
Defines which motors are inverted.
-
invertedIMU - Variable in class swervelib.parser.json.SwerveDriveJson
+
invertedIMU - Variable in class swervelib.parser.json.SwerveDriveJson
Invert the IMU of the robot.
-
invertedIMU - Variable in class swervelib.parser.SwerveDriveConfiguration
+
invertedIMU - Variable in class swervelib.parser.SwerveDriveConfiguration
Invert the imu measurements.
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxSwerve
+
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxSwerve
Queries whether the absolute encoder is directly attached to the motor controller.
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SwerveMotor
+
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SwerveMotor
Queries whether the absolute encoder is directly attached to the motor controller.
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonFXSwerve
+
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonFXSwerve
Queries whether the absolute encoder is directly attached to the motor controller.
-
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonSRXSwerve
+
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonSRXSwerve
Queries whether the absolute encoder is directly attached to the motor controller.
-
isDriveMotor - Variable in class swervelib.motors.SwerveMotor
+
isDriveMotor - Variable in class swervelib.motors.SwerveMotor
Whether the swerve motor is a drive motor.
-
iz - Variable in class swervelib.parser.PIDFConfig
+
iz - Variable in class swervelib.parser.PIDFConfig
Integral zone of the PID.
-A B C D E F G H I K L M N O P R S T U V W X Y Z 
All Classes All Packages
-
- diff --git a/docs/index.html b/docs/index.html index 7756bd3..48fbc8e 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,190 +1,79 @@ - - + Overview + - + + + - + - - - - - + + - - -
+
+ +
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Packages 
PackageDescription
swervelib 
swervelib.encoders 
swervelib.imu 
swervelib.math 
swervelib.motors 
swervelib.parser 
swervelib.parser.deserializer 
swervelib.parser.json 
swervelib.parser.json.modules 
+
-
- -
diff --git a/docs/jquery-ui.overrides.css b/docs/jquery-ui.overrides.css index facf852..f89acb6 100644 --- a/docs/jquery-ui.overrides.css +++ b/docs/jquery-ui.overrides.css @@ -1,5 +1,5 @@ /* - * Copyright (c) 2020, 2022, Oracle and/or its affiliates. All rights reserved. + * Copyright (c) 2020, 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 @@ -31,5 +31,4 @@ a.ui-button:active, .ui-button.ui-state-active:hover { /* Overrides the color of selection used in jQuery UI */ background: #F8981D; - border: 1px solid #F8981D; } diff --git a/docs/legal/ADDITIONAL_LICENSE_INFO b/docs/legal/ADDITIONAL_LICENSE_INFO new file mode 100644 index 0000000..b62cc3e --- /dev/null +++ b/docs/legal/ADDITIONAL_LICENSE_INFO @@ -0,0 +1 @@ +Please see ..\java.base\ADDITIONAL_LICENSE_INFO diff --git a/docs/legal/ASSEMBLY_EXCEPTION b/docs/legal/ASSEMBLY_EXCEPTION new file mode 100644 index 0000000..0d4cfb4 --- /dev/null +++ b/docs/legal/ASSEMBLY_EXCEPTION @@ -0,0 +1 @@ +Please see ..\java.base\ASSEMBLY_EXCEPTION diff --git a/docs/legal/LICENSE b/docs/legal/LICENSE new file mode 100644 index 0000000..4ad9fe4 --- /dev/null +++ b/docs/legal/LICENSE @@ -0,0 +1 @@ +Please see ..\java.base\LICENSE diff --git a/docs/legal/jquery.md b/docs/legal/jquery.md new file mode 100644 index 0000000..8054a34 --- /dev/null +++ b/docs/legal/jquery.md @@ -0,0 +1,72 @@ +## jQuery v3.5.1 + +### jQuery License +``` +jQuery v 3.5.1 +Copyright JS Foundation and other contributors, https://js.foundation/ + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be +included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +****************************************** + +The jQuery JavaScript Library v3.5.1 also includes Sizzle.js + +Sizzle.js includes the following license: + +Copyright JS Foundation and other contributors, https://js.foundation/ + +This software consists of voluntary contributions made by many +individuals. For exact contribution history, see the revision history +available at https://github.com/jquery/sizzle + +The following license applies to all parts of this software except as +documented below: + +==== + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be +included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +==== + +All files located in the node_modules and external directories are +externally maintained libraries used by this software which have their +own licenses; we recommend you read them, as their terms may differ from +the terms above. + +********************* + +``` diff --git a/docs/legal/jqueryUI.md b/docs/legal/jqueryUI.md new file mode 100644 index 0000000..8031bdb --- /dev/null +++ b/docs/legal/jqueryUI.md @@ -0,0 +1,49 @@ +## jQuery UI v1.12.1 + +### jQuery UI License +``` +Copyright jQuery Foundation and other contributors, https://jquery.org/ + +This software consists of voluntary contributions made by many +individuals. For exact contribution history, see the revision history +available at https://github.com/jquery/jquery-ui + +The following license applies to all parts of this software except as +documented below: + +==== + +Permission is hereby granted, free of charge, to any person obtaining +a copy of this software and associated documentation files (the +"Software"), to deal in the Software without restriction, including +without limitation the rights to use, copy, modify, merge, publish, +distribute, sublicense, and/or sell copies of the Software, and to +permit persons to whom the Software is furnished to do so, subject to +the following conditions: + +The above copyright notice and this permission notice shall be +included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE +LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION +OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION +WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +==== + +Copyright and related rights for sample code are waived via CC0. Sample +code is defined as all source code contained within the demos directory. + +CC0: http://creativecommons.org/publicdomain/zero/1.0/ + +==== + +All files located in the node_modules and external directories are +externally maintained libraries used by this software which have their +own licenses; we recommend you read them, as their terms may differ from +the terms above. + +``` diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 13a653e..2a7bc46 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = 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double)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)"},{"p":"swervelib","c":"SwerveDrive","l":"SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration)","u":"%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDriveConfiguration"},{"p":"swervelib.parser","c":"SwerveDriveConfiguration","l":"SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, double, boolean)","u":"%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,double,boolean)"},{"p":"swervelib.parser","c":"SwerveParser","l":"swerveDriveJson"},{"p":"swervelib.parser.json","c":"SwerveDriveJson","l":"SwerveDriveJson()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveDrive","l":"swerveDrivePoseEstimator"},{"p":"swervelib.imu","c":"SwerveIMU","l":"SwerveIMU()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"SwerveKinematics2(Translation2d...)","u":"%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)"},{"p":"swervelib.math","c":"SwerveMath","l":"SwerveMath()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveModule","l":"SwerveModule(int, SwerveModuleConfiguration)","u":"%3Cinit%3E(int,swervelib.parser.SwerveModuleConfiguration)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean)","u":"%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int)","u":"%3Cinit%3E(double,double,double,double,double,double,int,int)"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int, double, double, int, int)","u":"%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveModules"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"SwerveModuleState2()","u":"%3Cinit%3E()"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"SwerveModuleState2(double, Rotation2d, double)","u":"%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)"},{"p":"swervelib.motors","c":"SwerveMotor","l":"SwerveMotor()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"SwerveParser(File)","u":"%3Cinit%3E(java.io.File)"},{"p":"swervelib","c":"SwerveModule","l":"synchronizeEncoders()"},{"p":"swervelib","c":"SwerveDrive","l":"synchronizeModuleEncoders()"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, String, boolean)","u":"%3Cinit%3E(int,java.lang.String,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(WPI_TalonFX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(WPI_TalonSRX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)"},{"p":"swervelib","c":"SwerveController","l":"thetaController"},{"p":"swervelib.motors","c":"TalonSRXSwerve.CTRE_pidIdx","l":"THIRD_PID"},{"p":"swervelib","c":"SwerveModule","l":"time"},{"p":"swervelib","c":"SwerveDrive","l":"timer"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toChassisSpeeds(SwerveModuleState2...)","u":"toChassisSpeeds(swervelib.math.SwerveModuleState2...)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toSwerveModuleStates(ChassisSpeeds, Translation2d)","u":"toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"},{"p":"swervelib.math","c":"SwerveKinematics2","l":"toTwist2d(SwerveModulePosition...)","u":"toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)"},{"p":"swervelib.motors","c":"TalonSRXSwerve.CTRE_slotIdx","l":"Turning"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"type"},{"p":"swervelib","c":"SwerveDrive","l":"updateOdometry()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"TalonSRXSwerve.CTRE_pidIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"TalonSRXSwerve.CTRE_remoteSensor","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"TalonSRXSwerve.CTRE_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.motors","c":"TalonSRXSwerve.CTRE_pidIdx","l":"values()"},{"p":"swervelib.motors","c":"TalonSRXSwerve.CTRE_remoteSensor","l":"values()"},{"p":"swervelib.motors","c":"TalonSRXSwerve.CTRE_slotIdx","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.motors","c":"TalonSRXSwerve.CTRE_slotIdx","l":"Velocity"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelDiameter"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelDiameter"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib.imu","c":"NavXSwerve","l":"yawOffset"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/module-search-index.js b/docs/module-search-index.js new file mode 100644 index 0000000..0d59754 --- /dev/null +++ b/docs/module-search-index.js @@ -0,0 +1 @@ +moduleSearchIndex = [];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index 7cc64fe..b94ae93 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,18 +1,21 @@ - - + Generated Documentation (Untitled) + + + + + + - - - +
+ - diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 598822f..9b49e1c 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,568 +1,417 @@ - - + SwerveDrive + - + + + - + - - - - - + + - - -
+
+ - +
+
-
Package swervelib
-

Class SwerveDrive

+
Package swervelib
+

Class SwerveDrive

-
- -
-
    -
  • +
    java.lang.Object +
    swervelib.SwerveDrive
    +
    +
    -
    public class SwerveDrive
-extends Object
    +
    public class SwerveDrive +extends Object
    Swerve Drive class representing and controlling the swerve drive.
    -
    • -
-
-
-
    -
  • + +
    +
      -
      -
        -
      • - - -

        Field Summary

        - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
        Fields 
        Modifier and TypeFieldDescription
        private doubleangle +
      • +
        +

        Field Summary

        +
        Fields
        +
        +
        Modifier and Type
        +
        Field
        +
        Description
        +
        private double
        +
        angle
        +
        The current angle of the robot and last time odometry during simulations.
        -
        • edu.wpi.first.wpilibj.smartdashboard.Field2dfield -
        Field object.
        -
        private SwerveIMUimu -
        Swerve IMU device for sensing the heading of the robot.
        -
        SwerveKinematics2kinematics -
        Swerve Kinematics object utilizing second order kinematics.
        -
        private doublelastTime -
        The current angle of the robot and last time odometry during simulations.
        -
        SwerveControllerswerveController -
        Swerve controller for controlling heading of the robot.
        -
        SwerveDriveConfigurationswerveDriveConfiguration -
        Swerve drive configuration.
        -
        edu.wpi.first.math.estimator.SwerveDrivePoseEstimatorswerveDrivePoseEstimator -
        Swerve odometry.
        -
        private SwerveModule[]swerveModules -
        Swerve modules.
        -
        private edu.wpi.first.wpilibj.Timertimer -
        Time during simulations.
        -
        -
        • -
      -
      - -
      - -
      - -
      -
        -
      • - - -

        Method Summary

        - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
        All Methods Instance Methods Concrete Methods 
        Modifier and TypeMethodDescription
        voiddrive​(edu.wpi.first.math.geometry.Translation2d translation, - double rotation, - boolean fieldRelative, - boolean isOpenLoop) -
        The primary method for controlling the drivebase.
        -
        edu.wpi.first.math.kinematics.ChassisSpeedsgetFieldVelocity() -
        Gets the current field-relative velocity (x, y and omega) of the robot
        -
        edu.wpi.first.math.kinematics.SwerveModulePosition[]getModulePositions() -
        Gets the current module positions (azimuth and wheel position (meters))
        -
        edu.wpi.first.math.geometry.Rotation2dgetPitch() -
        Gets the current yaw angle of the robot, as reported by the imu.
        -
        edu.wpi.first.math.geometry.Pose2dgetPose() -
        Gets the current pose (position and rotation) of the robot, as reported by odometry.
        -
        edu.wpi.first.math.kinematics.ChassisSpeedsgetRobotVelocity() -
        Gets the current robot-relative velocity (x, y and omega) of the robot
        -
        SwerveModuleState2[]getStates() -
        Gets the current module states (azimuth and velocity)
        -
        edu.wpi.first.math.geometry.Pose2d[]getSwerveModulePoses​(edu.wpi.first.math.geometry.Pose2d robotPose) -
        Get the swerve module poses and on the field relative to the robot.
        -
        edu.wpi.first.math.geometry.Rotation2dgetYaw() -
        Gets the current yaw angle of the robot, as reported by the imu.
        -
        voidreplaceSwerveModuleFeedforward​(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward) -
        Setup the swerve module feedforward.
        -
        voidresetOdometry​(edu.wpi.first.math.geometry.Pose2d pose) -
        Resets odometry to the given pose.
        -
        voidsetChassisSpeeds​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds) -
        Set field-relative chassis speeds with closed-loop velocity control.
        -
        voidsetDriveBrake() -
        Point all modules toward the robot center, thus making the robot very difficult to move.
        -
        voidsetModuleStates​(SwerveModuleState2[] desiredStates, - boolean isOpenLoop) -
        Set the module states (azimuth and velocity) directly.
        -
        voidsetMotorBrake​(boolean brake) -
        Sets the drive motors to brake/coast mode.
        -
        voidupdateOdometry() -
        Update odometry should be run every loop.
        -
        voidzeroGyro() -
        Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
        -
        - -
        • -
      -
      - -
-
-
    -
  • - -
    -
      -
    • - - -

      Field Detail

      - - - -
        -
      • -

        kinematics

        -
        public final SwerveKinematics2 kinematics
        -
        Swerve Kinematics object utilizing second order kinematics.
        -
        • -
      - - - -
        -
      • -

        swerveDriveConfiguration

        -
        public final SwerveDriveConfiguration swerveDriveConfiguration
        -
        Swerve drive configuration.
        -
        • -
      - - - -
        -
      • -

        swerveDrivePoseEstimator

        -
        public final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator swerveDrivePoseEstimator
        -
        Swerve odometry.
        -
        • -
      - - - -
        -
      • -

        swerveModules

        -
        private final SwerveModule[] swerveModules
        -
        Swerve modules.
        -
        • -
      - - - -
        -
      • -

        field

        -
        public edu.wpi.first.wpilibj.smartdashboard.Field2d field
        +
        edu.wpi.first.wpilibj.smartdashboard.Field2d
        +
        field
        +
        Field object.
        -
        • -
      - - - -
        -
      • -

        swerveController

        -
        public SwerveController swerveController
        -
        Swerve controller for controlling heading of the robot.
        -
        • -
      - - - -
+
private SwerveIMU
+
imu
+
Swerve IMU device for sensing the heading of the robot.
- - - - - -
    -
  • -

    angle

    -
    private double angle
    +
+
final SwerveKinematics2
+
kinematics
+
+
Swerve Kinematics object utilizing second order kinematics.
+
+
private double
+
lastTime
+
The current angle of the robot and last time odometry during simulations.
- - - - - -
    -
  • -

    lastTime

    -
    private double lastTime
    -
    The current angle of the robot and last time odometry during simulations.
    -
    • -
- - - -
    -
  • -

    timer

    -
    private edu.wpi.first.wpilibj.Timer timer
    +
+
SwerveController
+
swerveController
+
+
Swerve controller for controlling heading of the robot.
+
+
final SwerveDriveConfiguration
+
swerveDriveConfiguration
+
+
Swerve drive configuration.
+
+
final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator
+
swerveDrivePoseEstimator
+
+
Swerve odometry.
+
+
private final SwerveModule[]
+
swerveModules
+
+
Swerve modules.
+
+
private edu.wpi.first.wpilibj.Timer
+
timer
+
Time during simulations.
+
+
+ - + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    SwerveDrive(SwerveDriveConfiguration config, + SwerveControllerConfiguration controllerConfig)
    +
    +
    Creates a new swerve drivebase subsystem.
    +
    +
    +
    +
    • + +
  • +
    +

    Method Summary

    +
    +
    +
    +
    +
    Modifier and Type
    +
    Method
    +
    Description
    +
    void
    +
    drive(edu.wpi.first.math.geometry.Translation2d translation, + double rotation, + boolean fieldRelative, + boolean isOpenLoop)
    +
    +
    The primary method for controlling the drivebase.
    +
    +
    edu.wpi.first.math.kinematics.ChassisSpeeds
    +
    getFieldVelocity()
    +
    +
    Gets the current field-relative velocity (x, y and omega) of the robot
    +
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getGyroRotation3d()
    +
    +
    Gets the current gyro Rotation3d of the robot, as reported by the imu.
    +
    +
    edu.wpi.first.math.kinematics.SwerveModulePosition[]
    +
    getModulePositions()
    +
    +
    Gets the current module positions (azimuth and wheel position (meters))
    +
    +
    edu.wpi.first.math.geometry.Rotation2d
    +
    getPitch()
    +
    +
    Gets the current pitch angle of the robot, as reported by the imu.
    +
    +
    edu.wpi.first.math.geometry.Pose2d
    +
    getPose()
    +
    +
    Gets the current pose (position and rotation) of the robot, as reported by odometry.
    +
    +
    edu.wpi.first.math.kinematics.ChassisSpeeds
    +
    getRobotVelocity()
    +
    +
    Gets the current robot-relative velocity (x, y and omega) of the robot
    +
    +
    edu.wpi.first.math.geometry.Rotation2d
    +
    getRoll()
    +
    +
    Gets the current roll angle of the robot, as reported by the imu.
    +
    +
    SwerveModuleState2[]
    +
    getStates()
    +
    +
    Gets the current module states (azimuth and velocity)
    +
    +
    edu.wpi.first.math.geometry.Pose2d[]
    +
    getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
    +
    +
    Get the swerve module poses and on the field relative to the robot.
    +
    +
    edu.wpi.first.math.geometry.Rotation2d
    +
    getYaw()
    +
    +
    Gets the current yaw angle of the robot, as reported by the imu.
    +
    +
    void
    +
    lock()
    +
    +
    Lock the swerve drive to prevent it from moving.
    +
    +
    void
    +
    replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
    +
    +
    Setup the swerve module feedforward.
    +
    +
    void
    +
    resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
    +
    +
    Resets odometry to the given pose.
    +
    +
    void
    +
    setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
    +
    +
    Set field-relative chassis speeds with closed-loop velocity control.
    +
    +
    void
    +
    setDriveBrake()
    +
    +
    Point all modules toward the robot center, thus making the robot very difficult to move.
    +
    +
    void
    +
    setModuleStates(SwerveModuleState2[] desiredStates, + boolean isOpenLoop)
    +
    +
    Set the module states (azimuth and velocity) directly.
    +
    +
    void
    +
    setMotorBrake(boolean brake)
    +
    +
    Sets the drive motors to brake/coast mode.
    +
    +
    void
    +
    synchronizeModuleEncoders()
    +
    +
    Synchronize angle motor integrated encoders with data from absolute encoders.
    +
    +
    void
    +
    updateOdometry()
    +
    +
    Update odometry should be run every loop.
    +
    +
    void
    +
    zeroGyro()
    +
    +
    Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
    +
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        kinematics

        +
        public final SwerveKinematics2 kinematics
        +
        Swerve Kinematics object utilizing second order kinematics.
        +
        +
        • +
      • +
        +

        swerveDriveConfiguration

        +
        public final SwerveDriveConfiguration swerveDriveConfiguration
        +
        Swerve drive configuration.
        +
        +
        • +
      • +
        +

        swerveDrivePoseEstimator

        +
        public final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator swerveDrivePoseEstimator
        +
        Swerve odometry.
        +
        +
        • +
      • +
        +

        swerveModules

        +
        private final SwerveModule[] swerveModules
        +
        Swerve modules.
        +
        +
        • +
      • +
        +

        field

        +
        public edu.wpi.first.wpilibj.smartdashboard.Field2d field
        +
        Field object.
        +
        +
        • +
      • +
        +

        swerveController

        +
        public SwerveController swerveController
        +
        Swerve controller for controlling heading of the robot.
        +
        +
        • +
      • +
        +

        imu

        +
        private SwerveIMU imu
        +
        Swerve IMU device for sensing the heading of the robot.
        +
        +
        • +
      • +
        +

        angle

        +
        private double angle
        +
        The current angle of the robot and last time odometry during simulations.
        +
        +
        • +
      • +
        +

        lastTime

        +
        private double lastTime
        +
        The current angle of the robot and last time odometry during simulations.
        +
        +
        • +
      • +
        +

        timer

        +
        private edu.wpi.first.wpilibj.Timer timer
        +
        Time during simulations.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SwerveDrive

          -
          public SwerveDrive​(SwerveDriveConfiguration config,
-                   SwerveControllerConfiguration controllerConfig)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SwerveDrive

            +
            public SwerveDrive(SwerveDriveConfiguration config, + SwerveControllerConfiguration controllerConfig)
            Creates a new swerve drivebase subsystem. Robot is controlled via the drive() method, or via the setModuleStates() - method. The drive() method incorporates kinematics— it takes a translation and rotation, as well as parameters for + method. The drive() method incorporates kinematics— it takes a translation and rotation, as well as parameters for field-centric and closed-loop velocity control. setModuleStates() takes a list of SwerveModuleStates and directly passes them to the modules. This subsystem also handles odometry.
            -
            • -
          +
          +
          Parameters:
          +
          config - The SwerveDriveConfiguration configuration to base the swerve drive off of.
          +
          controllerConfig - The SwerveControllerConfiguration to use when creating the + SwerveController.
          +
          +
      + -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          drive

          -
          public void drive​(edu.wpi.first.math.geometry.Translation2d translation,
-                  double rotation,
-                  boolean fieldRelative,
-                  boolean isOpenLoop)
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            drive

            +
            public void drive(edu.wpi.first.math.geometry.Translation2d translation, + double rotation, + boolean fieldRelative, + boolean isOpenLoop)
            The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, 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.
            -
            -
            Parameters:
            +
            +
            Parameters:
            translation - Translation2d that is the commanded linear velocity of the robot, in meters per second. In robot-relative mode, positive x is torwards the bow (front) and positive y is torwards port (left). In field-relative mode, positive x is away from the alliance wall @@ -573,294 +422,222 @@ extends - - -
              -
            • -

              setModuleStates

              -
              public void setModuleStates​(SwerveModuleState2[] desiredStates,
-                            boolean isOpenLoop)
              +
            • +
              +

              lock

              +
              public void lock()
              +
              Lock the swerve drive to prevent it from moving.
              +
              +
              • +
            • +
              +

              setModuleStates

              +
              public void setModuleStates(SwerveModuleState2[] desiredStates, + boolean isOpenLoop)
              Set the module states (azimuth and velocity) directly. Used primarily for auto pathing.
              -
              -
              Parameters:
              +
              +
              Parameters:
              desiredStates - A list of SwerveModuleStates to send to the modules.
              isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
              +
              • -
            - - - -
              -
            • -

              setChassisSpeeds

              -
              public void setChassisSpeeds​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
              +
            • +
              +

              setChassisSpeeds

              +
              public void setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
              Set field-relative chassis speeds with closed-loop velocity control.
              -
              -
              Parameters:
              +
              +
              Parameters:
              chassisSpeeds - Field-relative.
              +
              • -
            - - - -
              -
            • -

              getPose

              -
              public edu.wpi.first.math.geometry.Pose2d getPose()
              +
            • +
              +

              getPose

              +
              public edu.wpi.first.math.geometry.Pose2d getPose()
              Gets the current pose (position and rotation) of the robot, as reported by odometry.
              -
              -
              Returns:
              +
              +
              Returns:
              The robot's pose
              +
              • -
            - - - -
              -
            • -

              getFieldVelocity

              -
              public edu.wpi.first.math.kinematics.ChassisSpeeds getFieldVelocity()
              +
            • +
              +

              getFieldVelocity

              +
              public edu.wpi.first.math.kinematics.ChassisSpeeds getFieldVelocity()
              Gets the current field-relative velocity (x, y and omega) of the robot
              -
              -
              Returns:
              +
              +
              Returns:
              A ChassisSpeeds object of the current field-relative velocity
              +
              • -
            - - - -
              -
            • -

              getRobotVelocity

              -
              public edu.wpi.first.math.kinematics.ChassisSpeeds getRobotVelocity()
              +
            • +
              +

              getRobotVelocity

              +
              public edu.wpi.first.math.kinematics.ChassisSpeeds getRobotVelocity()
              Gets the current robot-relative velocity (x, y and omega) of the robot
              -
              -
              Returns:
              +
              +
              Returns:
              A ChassisSpeeds object of the current robot-relative velocity
              +
              • -
            - - - -
              -
            • -

              resetOdometry

              -
              public void resetOdometry​(edu.wpi.first.math.geometry.Pose2d pose)
              +
            • +
              +

              resetOdometry

              +
              public void resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
              Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this method. However, if either gyro angle or module position is reset, this must be called in order for odometry to keep working.
              -
              -
              Parameters:
              +
              +
              Parameters:
              pose - The pose to set the odometry to
              +
              • -
            - - - -
              -
            • -

              getStates

              -
              public SwerveModuleState2[] getStates()
              +
            • +
              +

              getStates

              +
              public SwerveModuleState2[] getStates()
              Gets the current module states (azimuth and velocity)
              -
              -
              Returns:
              +
              +
              Returns:
              A list of SwerveModuleStates containing the current module states
              +
              • -
            - - - -
              -
            • -

              getModulePositions

              -
              public edu.wpi.first.math.kinematics.SwerveModulePosition[] getModulePositions()
              +
            • +
              +

              getModulePositions

              +
              public edu.wpi.first.math.kinematics.SwerveModulePosition[] getModulePositions()
              Gets the current module positions (azimuth and wheel position (meters))
              -
              -
              Returns:
              +
              +
              Returns:
              A list of SwerveModulePositions containg the current module positions
              +
              • -
            - - - -
              -
            • -

              zeroGyro

              -
              public void zeroGyro()
              +
            • +
              +

              zeroGyro

              +
              public void zeroGyro()
              Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
              +
              • -
            - - - -
              -
            • -

              getYaw

              -
              public edu.wpi.first.math.geometry.Rotation2d getYaw()
              +
            • +
              +

              getYaw

              +
              public edu.wpi.first.math.geometry.Rotation2d getYaw()
              Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.
              -
              -
              Returns:
              +
              +
              Returns:
              The yaw as a Rotation2d angle
              +
              • -
            - - - -
              -
            • -

              getPitch

              -
              public edu.wpi.first.math.geometry.Rotation2d getPitch()
              -
              Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.
              -
              -
              Returns:
              +
            • +
              +

              getPitch

              +
              public edu.wpi.first.math.geometry.Rotation2d getPitch()
              +
              Gets the current pitch angle of the robot, as reported by the imu.
              +
              +
              Returns:
              The heading as a Rotation2d angle
              +
              • -
            - - - -
              -
            • -

              setMotorBrake

              -
              public void setMotorBrake​(boolean brake)
              +
            • +
              +

              getRoll

              +
              public edu.wpi.first.math.geometry.Rotation2d getRoll()
              +
              Gets the current roll angle of the robot, as reported by the imu.
              +
              +
              Returns:
              +
              The heading as a Rotation2d angle
              +
              +
              +
              • +
            • +
              +

              getGyroRotation3d

              +
              public edu.wpi.first.math.geometry.Rotation3d getGyroRotation3d()
              +
              Gets the current gyro Rotation3d of the robot, as reported by the imu.
              +
              +
              Returns:
              +
              The heading as a Rotation3d angle
              +
              +
              +
              • +
            • +
              +

              setMotorBrake

              +
              public void setMotorBrake(boolean brake)
              Sets the drive motors to brake/coast mode.
              -
              -
              Parameters:
              +
              +
              Parameters:
              brake - True to set motors to brake mode, false for coast.
              +
              • -
            - - - -
              -
            • -

              setDriveBrake

              -
              public void setDriveBrake()
              +
            • +
              +

              setDriveBrake

              +
              public void setDriveBrake()
              Point all modules toward the robot center, thus making the robot very difficult to move.
              +
              • -
            - - - -
              -
            • -

              getSwerveModulePoses

              -
              public edu.wpi.first.math.geometry.Pose2d[] getSwerveModulePoses​(edu.wpi.first.math.geometry.Pose2d robotPose)
              +
            • +
              +

              getSwerveModulePoses

              +
              public edu.wpi.first.math.geometry.Pose2d[] getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d robotPose)
              Get the swerve module poses and on the field relative to the robot.
              -
              -
              Parameters:
              +
              +
              Parameters:
              robotPose - Robot pose.
              -
              Returns:
              +
              Returns:
              Swerve module poses.
              +
              • -
            - - - -
              -
            • -

              replaceSwerveModuleFeedforward

              -
              public void replaceSwerveModuleFeedforward​(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
              +
            • +
              +

              replaceSwerveModuleFeedforward

              +
              public void replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
              Setup the swerve module feedforward.
              -
              -
              Parameters:
              +
              +
              Parameters:
              feedforward - Feedforward for the drive motor on swerve modules.
              +
              • -
            - - - -
              -
            • -

              updateOdometry

              -
              public void updateOdometry()
              +
            • +
              +

              updateOdometry

              +
              public void updateOdometry()
              Update odometry should be run every loop.
              +
              • -
            +
          • +
            +

            synchronizeModuleEncoders

            +
            public void synchronizeModuleEncoders()
            +
            Synchronize angle motor integrated encoders with data from absolute encoders.
            +
        -
    -
    - + - diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index 2dd62f8..2bfe44b 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,745 +1,487 @@ - - + SwerveModule + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib
    -

    Class SwerveModule

    +
    Package swervelib
    +

    Class SwerveModule

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.SwerveModule
      +
      +
      -
      public class SwerveModule
-extends Object
      +
      public class SwerveModule +extends Object
      The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
      -
      • -
    -
    -
    -
    -
    -
      -
    • - -
      -
    +
    final SwerveModuleConfiguration
    +
    configuration
    +
    +
    Swerve module configuration options.
    +
    +
    private final SwerveMotor
    +
    driveMotor
    +
    Swerve Motors.
    - - - - - -
      -
    • -

      driveMotor

      -
      private final SwerveMotor driveMotor
      -
      Swerve Motors.
      -
      • -
    - - - -
      -
    • -

      absoluteEncoder

      -
      private final SwerveAbsoluteEncoder absoluteEncoder
      -
      Absolute encoder for swerve drive.
      -
      • -
    - - - -
      -
    • -

      moduleNumber

      -
      public int moduleNumber
      -
      Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
      -
      • -
    - - - -
      -
    • -

      feedforward

      -
      public edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward
      +
    +
    double
    +
    dt
    +
    +
    Current state.
    +
    +
    double
    +
    fakePos
    +
    +
    Current state.
    +
    +
    edu.wpi.first.math.controller.SimpleMotorFeedforward
    +
    feedforward
    +
    Feedforward for drive motor during closed loop control.
    - - - - - -
      -
    • -

      lastAngle

      -
      public double lastAngle
      +
    +
    double
    +
    lastAngle
    +
    Last angle set for the swerve module.
    - - - - - -
      -
    • -

      angle

      -
      public double angle
      +
    +
    double
    +
    lastTime
    +
    Current state.
    - - - - - -
      -
    • -

      omega

      -
      public double omega
      +
    +
    int
    +
    moduleNumber
    +
    +
    Module number for kinematics, usually 0 to 3.
    +
    +
    double
    +
    omega
    +
    Current state.
    - - - - - -
      -
    • -

      speed

      -
      public double speed
      +
    +
    double
    +
    speed
    +
    Current state.
    - - - - - -
      -
    • -

      fakePos

      -
      public double fakePos
      -
      Current state.
      -
      • -
    - - - -
      -
    • -

      lastTime

      -
      public double lastTime
      -
      Current state.
      -
      • -
    - - - -
      -
    • -

      dt

      -
      public double dt
      -
      Current state.
      -
      • -
    - - - -
      -
    • -

      time

      -
      private edu.wpi.first.wpilibj.Timer time
      +
    +
    private edu.wpi.first.wpilibj.Timer
    +
    time
    +
    Timer for simulation.
    +
    +
    + - + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    SwerveModule(int moduleNumber, + SwerveModuleConfiguration moduleConfiguration)
    +
    +
    Construct the swerve module and initialize the swerve module motors and absolute encoder.
    +
    +
    +
    +
    • + +
  • +
    +

    Method Summary

    +
    +
    +
    +
    +
    Modifier and Type
    +
    Method
    +
    Description
    +
    double
    +
    getCANCoder()
    +
    +
    Get the CANCoder absolute position.
    +
    +
    edu.wpi.first.math.kinematics.SwerveModulePosition
    +
    getPosition()
    +
    +
    Get the position of the swerve module.
    +
    +
    double
    +
    getRelativeEncoder()
    +
    +
    Get the relative encoder angle in degrees.
    +
    +
    SwerveModuleState2
    +
    getState()
    +
    +
    Get the Swerve Module state.
    +
    +
    void
    +
    setAngle(double angle)
    +
    +
    Set the angle for the module.
    +
    +
    void
    +
    setDesiredState(SwerveModuleState2 desiredState, + boolean isOpenLoop)
    +
    +
    Set the desired state of the swerve module.
    +
    +
    void
    +
    setMotorBrake(boolean brake)
    +
    +
    Set the brake mode.
    +
    +
    void
    +
    synchronizeEncoders()
    +
    +
    Synchronize the integrated angle encoder with the absolute encoder.
    +
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        configuration

        +
        public final SwerveModuleConfiguration configuration
        +
        Swerve module configuration options.
        +
        +
        • +
      • +
        +

        angleOffset

        +
        private final double angleOffset
        +
        Angle offset from the absolute encoder.
        +
        +
        • +
      • +
        +

        angleMotor

        +
        private final SwerveMotor angleMotor
        +
        Swerve Motors.
        +
        +
        • +
      • +
        +

        driveMotor

        +
        private final SwerveMotor driveMotor
        +
        Swerve Motors.
        +
        +
        • +
      • +
        +

        absoluteEncoder

        +
        private final SwerveAbsoluteEncoder absoluteEncoder
        +
        Absolute encoder for swerve drive.
        +
        +
        • +
      • +
        +

        moduleNumber

        +
        public int moduleNumber
        +
        Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
        +
        +
        • +
      • +
        +

        feedforward

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

        lastAngle

        +
        public double lastAngle
        +
        Last angle set for the swerve module.
        +
        +
        • +
      • +
        +

        angle

        +
        public double angle
        +
        Current state.
        +
        +
        • +
      • +
        +

        omega

        +
        public double omega
        +
        Current state.
        +
        +
        • +
      • +
        +

        speed

        +
        public double speed
        +
        Current state.
        +
        +
        • +
      • +
        +

        fakePos

        +
        public double fakePos
        +
        Current state.
        +
        +
        • +
      • +
        +

        lastTime

        +
        public double lastTime
        +
        Current state.
        +
        +
        • +
      • +
        +

        dt

        +
        public double dt
        +
        Current state.
        +
        +
        • +
      • +
        +

        time

        +
        private edu.wpi.first.wpilibj.Timer time
        +
        Timer for simulation.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SwerveModule

          -
          public SwerveModule​(int moduleNumber,
-                    SwerveModuleConfiguration moduleConfiguration)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SwerveModule

            +
            public SwerveModule(int moduleNumber, + SwerveModuleConfiguration moduleConfiguration)
            Construct the swerve module and initialize the swerve module motors and absolute encoder.
            -
            -
            Parameters:
            +
            +
            Parameters:
            moduleNumber - Module number for kinematics.
            moduleConfiguration - Module constants containing CAN ID's and offsets.
            -
            • -
          +
      - -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          synchronizeEncoders

          -
          public void synchronizeEncoders()
          -
          Synchronize the integrated angle encoder with the absolute encoder.
          • -
        - - - -
          -
        • -

          setDesiredState

          -
          public void setDesiredState​(SwerveModuleState2 desiredState,
-                            boolean isOpenLoop)
          + +
        • +
          +

          Method Details

          +
            +
          • +
            +

            synchronizeEncoders

            +
            public void synchronizeEncoders()
            +
            Synchronize the integrated angle encoder with the absolute encoder.
            +
            +
            • +
          • +
            +

            setDesiredState

            +
            public void setDesiredState(SwerveModuleState2 desiredState, + boolean isOpenLoop)
            Set the desired state of the swerve module.
            -
            -
            Parameters:
            +
            +
            Parameters:
            desiredState - Desired swerve module state.
            isOpenLoop - Whether to use open loop (direct percent) or direct velocity control.
            +
            • -
          - - - -
            -
          • -

            setAngle

            -
            public void setAngle​(double angle)
            +
          • +
            +

            setAngle

            +
            public void setAngle(double angle)
            Set the angle for the module.
            -
            -
            Parameters:
            +
            +
            Parameters:
            angle - Angle in degrees.
            +
            • -
          - - - -
            -
          • -

            getState

            -
            public SwerveModuleState2 getState()
            +
          • +
            +

            getState

            +
            public SwerveModuleState2 getState()
            Get the Swerve Module state.
            -
            -
            Returns:
            +
            +
            Returns:
            Current SwerveModule state.
            +
            • -
          - - - -
            -
          • -

            getPosition

            -
            public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()
            +
          • +
            +

            getPosition

            +
            public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()
            +
            Get the position of the swerve module.
            +
            +
            Returns:
            +
            SwerveModulePosition of the swerve module.
            +
            +
            • -
          - - - -
            -
          • -

            getCANCoder

            -
            public double getCANCoder()
            +
          • +
            +

            getCANCoder

            +
            public double getCANCoder()
            Get the CANCoder absolute position.
            -
            -
            Returns:
            +
            +
            Returns:
            Absolute encoder angle in degrees.
            +
            • -
          - - - -
            -
          • -

            getRelativeEncoder

            -
            public double getRelativeEncoder()
            +
          • +
            +

            getRelativeEncoder

            +
            public double getRelativeEncoder()
            Get the relative encoder angle in degrees.
            -
            -
            Returns:
            +
            +
            Returns:
            Angle in degrees.
            +
            • -
          - - - -
            -
          • -

            setMotorBrake

            -
            public void setMotorBrake​(boolean brake)
            +
          • +
            +

            setMotorBrake

            +
            public void setMotorBrake(boolean brake)
            Set the brake mode.
            -
            -
            Parameters:
            +
            +
            Parameters:
            brake - Set the brake mode.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index aa7b70e..388b019 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,483 +1,295 @@ - - + CANCoderSwerve + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.encoders
    -

    Class CANCoderSwerve

    +
    Package swervelib.encoders
    +

    Class CANCoderSwerve

    -
    - -
    - -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          com.ctre.phoenix.sensors.WPI_CANCoderencoder +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          com.ctre.phoenix.sensors.WPI_CANCoder
          +
          encoder
          +
          CANCoder with WPILib sendable and support.
          -
          • -
          • -
        -
        - -
        -
          -
        • - - -

          Constructor Summary

          - - - - - - - - - - - - - - -
          Constructors 
          ConstructorDescription
          CANCoderSwerve​(int id) -
          Initialize the CANCoder on the standard CANBus.
          -
          CANCoderSwerve​(int id, - String canbus) -
          Initialize the CANCoder on the CANivore.
          -
          -
          • -
        -
        - -
        - -
        - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          encoder

          -
          public com.ctre.phoenix.sensors.WPI_CANCoder encoder
          -
          CANCoder with WPILib sendable and support.
          +
    + - + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    CANCoderSwerve(int id)
    +
    +
    Initialize the CANCoder on the standard CANBus.
    +
    +
    CANCoderSwerve(int id, + String canbus)
    +
    +
    Initialize the CANCoder on the CANivore.
    +
    +
    +
    +
    • + +
  • +
    +

    Method Summary

    +
    +
    +
    +
    +
    Modifier and Type
    +
    Method
    +
    Description
    +
    void
    +
    clearStickyFaults()
    +
    +
    Clear sticky faults on the encoder.
    +
    +
    void
    +
    configure(boolean inverted)
    +
    +
    Configure the absolute encoder to read from [0, 360) per second.
    +
    +
    void
    +
    factoryDefault()
    +
    +
    Reset the encoder to factory defaults.
    +
    +
    Object
    +
    getAbsoluteEncoder()
    +
    +
    Get the instantiated absolute encoder Object.
    +
    +
    double
    +
    getAbsolutePosition()
    +
    +
    Get the absolute position of the encoder.
    +
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        encoder

        +
        public com.ctre.phoenix.sensors.WPI_CANCoder encoder
        +
        CANCoder with WPILib sendable and support.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          CANCoderSwerve

          -
          public CANCoderSwerve​(int id)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            CANCoderSwerve

            +
            public CANCoderSwerve(int id)
            Initialize the CANCoder on the standard CANBus.
            -
            -
            Parameters:
            +
            +
            Parameters:
            id - CAN ID.
            +
            • -
          - - - -
            -
          • -

            CANCoderSwerve

            -
            public CANCoderSwerve​(int id,
-                      String canbus)
            +
          • +
            +

            CANCoderSwerve

            +
            public CANCoderSwerve(int id, + String canbus)
            Initialize the CANCoder on the CANivore.
            -
            -
            Parameters:
            +
            +
            Parameters:
            id - CAN ID.
            canbus - CAN bus to initialize it on.
            -
            • -
          +
      + -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          factoryDefault

          -
          public void factoryDefault()
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            factoryDefault

            +
            public void factoryDefault()
            Reset the encoder to factory defaults.
            -
            -
            Specified by:
            +
            +
            Specified by:
            factoryDefault in class SwerveAbsoluteEncoder
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public void clearStickyFaults()
            Clear sticky faults on the encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            clearStickyFaults in class SwerveAbsoluteEncoder
            +
            • -
          - - - -
            -
          • -

            configure

            -
            public void configure​(boolean inverted)
            +
          • +
            +

            configure

            +
            public void configure(boolean inverted)
            Configure the absolute encoder to read from [0, 360) per second.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configure in class SwerveAbsoluteEncoder
            -
            Parameters:
            +
            Parameters:
            inverted - Whether the encoder is inverted.
            +
            • -
          - - - -
            -
          • -

            getAbsolutePosition

            -
            public double getAbsolutePosition()
            +
          • +
            +

            getAbsolutePosition

            +
            public double getAbsolutePosition()
            Get the absolute position of the encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getAbsolutePosition in class SwerveAbsoluteEncoder
            -
            Returns:
            +
            Returns:
            Absolute position in degrees from [0, 360).
            +
            • -
          - - - -
            -
          • -

            getAbsoluteEncoder

            -
            public Object getAbsoluteEncoder()
            +
          • +
            +

            getAbsoluteEncoder

            +
            public Object getAbsoluteEncoder()
            Get the instantiated absolute encoder Object.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getAbsoluteEncoder in class SwerveAbsoluteEncoder
            -
            Returns:
            +
            Returns:
            Absolute encoder object.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index d18feb0..1d459ac 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,460 +1,277 @@ - - + SparkMaxEncoderSwerve + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.encoders
    -

    Class SparkMaxEncoderSwerve

    +
    Package swervelib.encoders
    +

    Class SparkMaxEncoderSwerve

    -
    - -
    - -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          encoder

          -
          public com.revrobotics.AbsoluteEncoder encoder
          -
          The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
          +
    + - + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    SparkMaxEncoderSwerve(SwerveMotor motor)
    +
    +
    Create the AbsoluteEncoder object as a duty cycle.
    +
    +
    +
    +
    • + +
  • +
    +

    Method Summary

    +
    +
    +
    +
    +
    Modifier and Type
    +
    Method
    +
    Description
    +
    void
    +
    clearStickyFaults()
    +
    +
    Clear sticky faults on the encoder.
    +
    +
    void
    +
    configure(boolean inverted)
    +
    +
    Configure the absolute encoder to read from [0, 360) per second.
    +
    +
    void
    +
    factoryDefault()
    +
    +
    Reset the encoder to factory defaults.
    +
    +
    Object
    +
    getAbsoluteEncoder()
    +
    +
    Get the instantiated absolute encoder Object.
    +
    +
    double
    +
    getAbsolutePosition()
    +
    +
    Get the absolute position of the encoder.
    +
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        encoder

        +
        public com.revrobotics.AbsoluteEncoder encoder
        +
        The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SparkMaxEncoderSwerve

          -
          public SparkMaxEncoderSwerve​(SwerveMotor motor)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SparkMaxEncoderSwerve

            +
            public SparkMaxEncoderSwerve(SwerveMotor motor)
            Create the AbsoluteEncoder object as a duty cycle. from the CANSparkMax motor.
            -
            -
            Parameters:
            +
            +
            Parameters:
            motor - Motor to create the encoder from.
            -
            • -
          +
      + -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          factoryDefault

          -
          public void factoryDefault()
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            factoryDefault

            +
            public void factoryDefault()
            Reset the encoder to factory defaults.
            -
            -
            Specified by:
            +
            +
            Specified by:
            factoryDefault in class SwerveAbsoluteEncoder
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public void clearStickyFaults()
            Clear sticky faults on the encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            clearStickyFaults in class SwerveAbsoluteEncoder
            +
            • -
          - - - -
            -
          • -

            configure

            -
            public void configure​(boolean inverted)
            +
          • +
            +

            configure

            +
            public void configure(boolean inverted)
            Configure the absolute encoder to read from [0, 360) per second.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configure in class SwerveAbsoluteEncoder
            -
            Parameters:
            +
            Parameters:
            inverted - Whether the encoder is inverted.
            +
            • -
          - - - -
            -
          • -

            getAbsolutePosition

            -
            public double getAbsolutePosition()
            +
          • +
            +

            getAbsolutePosition

            +
            public double getAbsolutePosition()
            Get the absolute position of the encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getAbsolutePosition in class SwerveAbsoluteEncoder
            -
            Returns:
            +
            Returns:
            Absolute position in degrees from [0, 360).
            +
            • -
          - - - -
            -
          • -

            getAbsoluteEncoder

            -
            public Object getAbsoluteEncoder()
            +
          • +
            +

            getAbsoluteEncoder

            +
            public Object getAbsoluteEncoder()
            Get the instantiated absolute encoder Object.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getAbsoluteEncoder in class SwerveAbsoluteEncoder
            -
            Returns:
            +
            Returns:
            Absolute encoder object.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index 939bdfd..e7f6f7f 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,393 +1,226 @@ - - + SwerveAbsoluteEncoder + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.encoders
    -

    Class SwerveAbsoluteEncoder

    +
    Package swervelib.encoders
    +

    Class SwerveAbsoluteEncoder

    -
    - -
    -
      -
    • -
      +
      java.lang.Object +
      swervelib.encoders.SwerveAbsoluteEncoder
      +
      +
      +
      Direct Known Subclasses:
      CANCoderSwerve, SparkMaxEncoderSwerve
      -
      public abstract class SwerveAbsoluteEncoder
-extends Object
      +
      public abstract class SwerveAbsoluteEncoder +extends Object
      Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
      -
      • -
    -
    -
    - +
    +
      + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        SwerveAbsoluteEncoder

        +
        public SwerveAbsoluteEncoder()
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          factoryDefault

          -
          public abstract void factoryDefault()
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            factoryDefault

            +
            public abstract void factoryDefault()
            Reset the encoder to factory defaults.
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public abstract void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public abstract void clearStickyFaults()
            Clear sticky faults on the encoder.
            +
            • -
          - - - -
            -
          • -

            configure

            -
            public abstract void configure​(boolean inverted)
            +
          • +
            +

            configure

            +
            public abstract void configure(boolean inverted)
            Configure the absolute encoder to read from [0, 360) per second.
            -
            -
            Parameters:
            +
            +
            Parameters:
            inverted - Whether the encoder is inverted.
            +
            • -
          - - - -
            -
          • -

            getAbsolutePosition

            -
            public abstract double getAbsolutePosition()
            +
          • +
            +

            getAbsolutePosition

            +
            public abstract double getAbsolutePosition()
            Get the absolute position of the encoder.
            -
            -
            Returns:
            +
            +
            Returns:
            Absolute position in degrees from [0, 360).
            +
            • -
          - - - -
            -
          • -

            getAbsoluteEncoder

            -
            public abstract Object getAbsoluteEncoder()
            +
          • +
            +

            getAbsoluteEncoder

            +
            public abstract Object getAbsoluteEncoder()
            Get the instantiated absolute encoder Object.
            -
            -
            Returns:
            +
            +
            Returns:
            Absolute encoder object.
            -
            • -
          +
    -
    -
    -
    + - diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index 830710b..cef0a12 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,179 +1,111 @@ - - + swervelib.encoders + - + + + - + - - - - - + + - - -
    +
    + +
    -

    Package swervelib.encoders

    +

    Package swervelib.encoders

    -
    -
    +
    +
    -
    + -
    - -
    diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index 8a81eb2..d8a46cc 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,167 +1,76 @@ - - + swervelib.encoders Class Hierarchy + - + + + - + - - - - - + + - - -
    +
    + +

    Hierarchy For Package swervelib.encoders

    -Package Hierarchies: +Package Hierarchies:
    -
    -
    +

    Class Hierarchy

    -
    - diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index 52d8918..63ca7a8 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,473 +1,285 @@ - - + NavXSwerve + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.imu
    -

    Class NavXSwerve

    +
    Package swervelib.imu
    +

    Class NavXSwerve

    -
    - -
    - -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          private com.kauailabs.navx.frc.AHRSgyro +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          private com.kauailabs.navx.frc.AHRS
          +
          gyro
          +
          NavX IMU.
          -
          • private doubleyawOffset -
          Offset for the NavX yaw reading.
          -
          -
          • -
        -
        - -
        -
          -
        • - - -

          Constructor Summary

          - - - - - - - - - - -
          Constructors 
          ConstructorDescription
          NavXSwerve() -
          Constructor for the NavX swerve.
          -
          -
          • -
        -
        - -
        - -
        - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          gyro

          -
          private com.kauailabs.navx.frc.AHRS gyro
          -
          NavX IMU.
          -
          • -
        - - - -
          -
        • -

          yawOffset

          -
          private double yawOffset
          +
          private double
          +
          yawOffset
          +
          Offset for the NavX yaw reading.
          -
          • -
        -
        • -
      +
    +
    - -
    -
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        gyro

        +
        private com.kauailabs.navx.frc.AHRS gyro
        +
        NavX IMU.
        +
        +
        • +
      • +
        +

        yawOffset

        +
        private double yawOffset
        +
        Offset for the NavX yaw reading.
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        NavXSwerve

        +
        public NavXSwerve()
        +
        Constructor for the NavX swerve.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          factoryDefault

          -
          public void factoryDefault()
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            factoryDefault

            +
            public void factoryDefault()
            Reset IMU to factory default.
            -
            -
            Specified by:
            +
            +
            Specified by:
            factoryDefault in class SwerveIMU
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public void clearStickyFaults()
            Clear sticky faults on IMU.
            -
            -
            Specified by:
            +
            +
            Specified by:
            clearStickyFaults in class SwerveIMU
            +
            • -
          - - - -
            -
          • -

            setYaw

            -
            public void setYaw​(double yaw)
            +
          • +
            +

            setYaw

            +
            public void setYaw(double yaw)
            Set the yaw in degrees.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setYaw in class SwerveIMU
            -
            Parameters:
            +
            Parameters:
            yaw - Yaw angle in degrees.
            +
            • -
          - - - -
            -
          • -

            getYawPitchRoll

            -
            public void getYawPitchRoll​(double[] yprArray)
            +
          • +
            +

            getYawPitchRoll

            +
            public void getYawPitchRoll(double[] yprArray)
            Fetch the yaw/pitch/roll from the IMU.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getYawPitchRoll in class SwerveIMU
            -
            Parameters:
            +
            Parameters:
            yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
            +
            • -
          - - - -
            -
          • -

            getIMU

            -
            public Object getIMU()
            +
          • +
            +

            getIMU

            +
            public Object getIMU()
            Get the instantiated IMU object.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getIMU in class SwerveIMU
            -
            Returns:
            +
            Returns:
            IMU object.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index 6743f5e..c98f0fc 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,483 +1,295 @@ - - + Pigeon2Swerve + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.imu
    -

    Class Pigeon2Swerve

    +
    Package swervelib.imu
    +

    Class Pigeon2Swerve

    -
    - -
    - -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          (package private) com.ctre.phoenix.sensors.WPI_Pigeon2imu +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          (package private) com.ctre.phoenix.sensors.WPI_Pigeon2
          +
          imu
          +
          Pigeon2 IMU device.
          -
          • -
          • -
        -
        - -
        -
          -
        • - - -

          Constructor Summary

          - - - - - - - - - - - - - - -
          Constructors 
          ConstructorDescription
          Pigeon2Swerve​(int canid) -
          Generate the SwerveIMU for pigeon.
          -
          Pigeon2Swerve​(int canid, - String canbus) -
          Generate the SwerveIMU for pigeon.
          -
          -
          • -
        -
        - -
        - -
        - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          imu

          -
          com.ctre.phoenix.sensors.WPI_Pigeon2 imu
          -
          Pigeon2 IMU device.
          +
    + - + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    Pigeon2Swerve(int canid)
    +
    +
    Generate the SwerveIMU for pigeon.
    +
    +
    Pigeon2Swerve(int canid, + String canbus)
    +
    +
    Generate the SwerveIMU for pigeon.
    +
    +
    +
    +
    • + +
  • +
    +

    Method Summary

    +
    +
    +
    +
    +
    Modifier and Type
    +
    Method
    +
    Description
    +
    void
    +
    clearStickyFaults()
    +
    +
    Clear sticky faults on IMU.
    +
    +
    void
    +
    factoryDefault()
    +
    +
    Reset IMU to factory default.
    +
    +
    Object
    +
    getIMU()
    +
    +
    Get the instantiated IMU object.
    +
    +
    void
    +
    getYawPitchRoll(double[] yprArray)
    +
    +
    Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
    +
    +
    void
    +
    setYaw(double yaw)
    +
    +
    Set the yaw in degrees.
    +
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        imu

        +
        com.ctre.phoenix.sensors.WPI_Pigeon2 imu
        +
        Pigeon2 IMU device.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          Pigeon2Swerve

          -
          public Pigeon2Swerve​(int canid,
-                     String canbus)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            Pigeon2Swerve

            +
            public Pigeon2Swerve(int canid, + String canbus)
            Generate the SwerveIMU for pigeon.
            -
            -
            Parameters:
            +
            +
            Parameters:
            canid - CAN ID for the pigeon
            canbus - CAN Bus name the pigeon resides on.
            +
            • -
          - - - -
            -
          • -

            Pigeon2Swerve

            -
            public Pigeon2Swerve​(int canid)
            +
          • +
            +

            Pigeon2Swerve

            +
            public Pigeon2Swerve(int canid)
            Generate the SwerveIMU for pigeon.
            -
            -
            Parameters:
            +
            +
            Parameters:
            canid - CAN ID for the pigeon
            -
            • -
          +
      + -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          factoryDefault

          -
          public void factoryDefault()
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            factoryDefault

            +
            public void factoryDefault()
            Reset IMU to factory default.
            -
            -
            Specified by:
            +
            +
            Specified by:
            factoryDefault in class SwerveIMU
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public void clearStickyFaults()
            Clear sticky faults on IMU.
            -
            -
            Specified by:
            +
            +
            Specified by:
            clearStickyFaults in class SwerveIMU
            +
            • -
          - - - -
            -
          • -

            setYaw

            -
            public void setYaw​(double yaw)
            +
          • +
            +

            setYaw

            +
            public void setYaw(double yaw)
            Set the yaw in degrees.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setYaw in class SwerveIMU
            -
            Parameters:
            +
            Parameters:
            yaw - Angle in degrees.
            +
            • -
          - - - -
            -
          • -

            getYawPitchRoll

            -
            public void getYawPitchRoll​(double[] yprArray)
            +
          • +
            +

            getYawPitchRoll

            +
            public void getYawPitchRoll(double[] yprArray)
            Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getYawPitchRoll in class SwerveIMU
            -
            Parameters:
            +
            Parameters:
            yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
            +
            • -
          - - - -
            -
          • -

            getIMU

            -
            public Object getIMU()
            +
          • +
            +

            getIMU

            +
            public Object getIMU()
            Get the instantiated IMU object.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getIMU in class SwerveIMU
            -
            Returns:
            +
            Returns:
            IMU object.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index c57aa2d..3a01db3 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,457 +1,277 @@ - - + PigeonSwerve + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.imu
    -

    Class PigeonSwerve

    +
    Package swervelib.imu
    +

    Class PigeonSwerve

    -
    - -
    - -
    -
    -
      -
    • + +
      + +
    • +
      +

      Field Summary

      +
      Fields
      +
      +
      Modifier and Type
      +
      Field
      +
      Description
      +
      (package private) com.ctre.phoenix.sensors.WPI_PigeonIMU
      +
      imu
      +
      +
      Pigeon v1 IMU device.
      -
      -
        -
      • - -
        -
          -
        • - - -

          Field Detail

          - - - -
            -
          • -

            imu

            -
            com.ctre.phoenix.sensors.WPI_PigeonIMU imu
            +
      +
      • -
    + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    PigeonSwerve(int canid)
    +
    +
    Generate the SwerveIMU for pigeon.
    +
    +
    +
    +
    • + +
  • +
    +

    Method Summary

    +
    +
    +
    +
    +
    Modifier and Type
    +
    Method
    +
    Description
    +
    void
    +
    clearStickyFaults()
    +
    +
    Clear sticky faults on IMU.
    +
    +
    void
    +
    factoryDefault()
    +
    +
    Reset IMU to factory default.
    +
    +
    Object
    +
    getIMU()
    +
    +
    Get the instantiated IMU object.
    +
    +
    void
    +
    getYawPitchRoll(double[] yprArray)
    +
    +
    Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
    +
    +
    void
    +
    setYaw(double yaw)
    +
    +
    Set the yaw in degrees.
    +
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        imu

        +
        com.ctre.phoenix.sensors.WPI_PigeonIMU imu
        +
        Pigeon v1 IMU device.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          PigeonSwerve

          -
          public PigeonSwerve​(int canid)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            PigeonSwerve

            +
            public PigeonSwerve(int canid)
            Generate the SwerveIMU for pigeon.
            -
            -
            Parameters:
            +
            +
            Parameters:
            canid - CAN ID for the pigeon, does not support CANBus.
            -
            • -
          +
      + -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          factoryDefault

          -
          public void factoryDefault()
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            factoryDefault

            +
            public void factoryDefault()
            Reset IMU to factory default.
            -
            -
            Specified by:
            +
            +
            Specified by:
            factoryDefault in class SwerveIMU
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public void clearStickyFaults()
            Clear sticky faults on IMU.
            -
            -
            Specified by:
            +
            +
            Specified by:
            clearStickyFaults in class SwerveIMU
            +
            • -
          - - - -
            -
          • -

            setYaw

            -
            public void setYaw​(double yaw)
            +
          • +
            +

            setYaw

            +
            public void setYaw(double yaw)
            Set the yaw in degrees.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setYaw in class SwerveIMU
            -
            Parameters:
            +
            Parameters:
            yaw - Angle in degrees.
            +
            • -
          - - - -
            -
          • -

            getYawPitchRoll

            -
            public void getYawPitchRoll​(double[] yprArray)
            +
          • +
            +

            getYawPitchRoll

            +
            public void getYawPitchRoll(double[] yprArray)
            Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getYawPitchRoll in class SwerveIMU
            -
            Parameters:
            +
            Parameters:
            yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
            +
            • -
          - - - -
            -
          • -

            getIMU

            -
            public Object getIMU()
            +
          • +
            +

            getIMU

            +
            public Object getIMU()
            Get the instantiated IMU object.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getIMU in class SwerveIMU
            -
            Returns:
            +
            Returns:
            IMU object.
            -
            • -
          +
    -
    -
    -
    + - diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index 570b579..87a1a39 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,393 +1,226 @@ - - + SwerveIMU + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.imu
    -

    Class SwerveIMU

    +
    Package swervelib.imu
    +

    Class SwerveIMU

    -
    - -
    - -
    -
    - +
    +
      + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        SwerveIMU

        +
        public SwerveIMU()
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          factoryDefault

          -
          public abstract void factoryDefault()
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            factoryDefault

            +
            public abstract void factoryDefault()
            Reset IMU to factory default.
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public abstract void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public abstract void clearStickyFaults()
            Clear sticky faults on IMU.
            +
            • -
          - - - -
            -
          • -

            setYaw

            -
            public abstract void setYaw​(double yaw)
            +
          • +
            +

            setYaw

            +
            public abstract void setYaw(double yaw)
            Set the yaw in degrees.
            -
            -
            Parameters:
            +
            +
            Parameters:
            yaw - Yaw angle in degrees.
            +
            • -
          - - - -
            -
          • -

            getYawPitchRoll

            -
            public abstract void getYawPitchRoll​(double[] yprArray)
            +
          • +
            +

            getYawPitchRoll

            +
            public abstract void getYawPitchRoll(double[] yprArray)
            Fetch the yaw/pitch/roll from the IMU.
            -
            -
            Parameters:
            +
            +
            Parameters:
            yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
            +
            • -
          - - - -
            -
          • -

            getIMU

            -
            public abstract Object getIMU()
            +
          • +
            +

            getIMU

            +
            public abstract Object getIMU()
            Get the instantiated IMU object.
            -
            -
            Returns:
            +
            +
            Returns:
            IMU object.
            -
            • -
          +
    -
    -
    -
    + - diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index 502dd20..f4db2cd 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,185 +1,115 @@ - - + swervelib.imu + - + + + - + - - - - - + + - - -
    +
    + +
    -

    Package swervelib.imu

    +

    Package swervelib.imu

    -
    -
    +
    +
    -
    + -
    - -
    diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index 5a7d0b8..ad97d45 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,168 +1,77 @@ - - + swervelib.imu Class Hierarchy + - + + + - + - - - - - + + - - -
    +
    + +

    Hierarchy For Package swervelib.imu

    -Package Hierarchies: +Package Hierarchies:
    -
    -
    +

    Class Hierarchy

    -
    - diff --git a/docs/swervelib/math/SwerveKinematics2.html b/docs/swervelib/math/SwerveKinematics2.html index 61f2ad3..54c2a0b 100644 --- a/docs/swervelib/math/SwerveKinematics2.html +++ b/docs/swervelib/math/SwerveKinematics2.html @@ -1,458 +1,327 @@ - - + SwerveKinematics2 + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.math
    -

    Class SwerveKinematics2

    +
    Package swervelib.math
    +

    Class SwerveKinematics2

    -
    -
      -
    • java.lang.Object
      • -
    • -
        -
      • edu.wpi.first.math.kinematics.SwerveDriveKinematics
        • -
      • -
          -
        • swervelib.math.SwerveKinematics2
          • -
        -
        • -
      -
      • -
    -
    -
      -
    • +
      java.lang.Object +
      edu.wpi.first.math.kinematics.SwerveDriveKinematics +
      swervelib.math.SwerveKinematics2
      +
      +
      +
      -
      public class SwerveKinematics2
-extends edu.wpi.first.math.kinematics.SwerveDriveKinematics
      +
      public class SwerveKinematics2 +extends edu.wpi.first.math.kinematics.SwerveDriveKinematics
      Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis speed. -

      -

      Makes use of SwerveModuleState2 to add the angular velocity that is required of the module as an output.

      -
      • -
    -
    -
    -
      -
    • + +
      +
        -
        - +
      • +
        +

        Field Summary

        +
        Fields
        +
        +
        Modifier and Type
        +
        Field
        +
        Description
        +
        private final org.ejml.simple.SimpleMatrix
        +
        bigInverseKinematics
        +
        +
        Second order kinematics inverse matrix.
        +
        +
        private final org.ejml.simple.SimpleMatrix
        +
        m_forwardKinematics
        +
        +
        Forward kinematics matrix.
        +
        +
        private final org.ejml.simple.SimpleMatrix
        +
        m_inverseKinematics
        +
        +
        Inverse kinematics matrix.
        +
        +
        private final edu.wpi.first.math.geometry.Translation2d[]
        +
        m_modules
        +
        +
        Location of each swerve module in meters.
        +
        +
        private final SwerveModuleState2[]
        +
        m_moduleStates
        +
        +
        Swerve module states.
        +
        +
        private final int
        +
        m_numModules
        +
        +
        Number of swerve modules.
        +
        +
        private edu.wpi.first.math.geometry.Translation2d
        +
        m_prevCoR
        +
        +
        Previous CoR
        +
        +
        +
        • -
        -
          -
        • - - -

          Constructor Summary

          - - - - - - - - - - -
          Constructors 
          ConstructorDescription
          SwerveKinematics2​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters) +
        • +
          +

          Constructor Summary

          +
          Constructors
          +
          +
          Constructor
          +
          Description
          +
          SwerveKinematics2(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)
          +
          Constructs a swerve drive kinematics object.
          -
          • -
          • -
        +
    +
    + -
    -
      -
    • - - -

      Method Summary

      - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and TypeMethodDescription
      static voiddesaturateWheelSpeeds​(SwerveModuleState2[] moduleStates, - double attainableMaxSpeedMetersPerSecond) +
    • +
      +

      Method Summary

      +
      +
      +
      +
      +
      Modifier and Type
      +
      Method
      +
      Description
      +
      static void
      +
      desaturateWheelSpeeds(SwerveModuleState2[] moduleStates, + double attainableMaxSpeedMetersPerSecond)
      +
      Renormalizes the wheel speeds if any individual speed is above the specified maximum.
      -
      • static voiddesaturateWheelSpeeds​(SwerveModuleState2[] moduleStates, - edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed, - double attainableMaxModuleSpeedMetersPerSecond, - double attainableMaxTranslationalSpeedMetersPerSecond, - double attainableMaxRotationalVelocityRadiansPerSecond) + +
      static void
      +
      desaturateWheelSpeeds(SwerveModuleState2[] moduleStates, + edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed, + double attainableMaxModuleSpeedMetersPerSecond, + double attainableMaxTranslationalSpeedMetersPerSecond, + double attainableMaxRotationalVelocityRadiansPerSecond)
      +
      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.
      -
      edu.wpi.first.math.kinematics.ChassisSpeedstoChassisSpeeds​(SwerveModuleState2... wheelStates) -
      Performs forward kinematics to return the resulting chassis state from the given module states.
      -
      SwerveModuleState2[]toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds) -
      Performs inverse kinematics.
      -
      SwerveModuleState2[]toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds, - edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters) -
      Performs inverse kinematics to return the module states from a desired chassis velocity.
      -
      edu.wpi.first.math.geometry.Twist2dtoTwist2d​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas) -
      Performs forward kinematics to return the resulting chassis state from the given module states.
      -
      -
        -
      • - - -

        Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics

        -desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds
        • -
      - -
      • -
    -
    - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          m_inverseKinematics

          -
          private final org.ejml.simple.SimpleMatrix m_inverseKinematics
          -
          • -
        - - - -
          -
        • -

          m_forwardKinematics

          -
          private final org.ejml.simple.SimpleMatrix m_forwardKinematics
          -
          • -
        - - - -
          -
        • -

          bigInverseKinematics

          -
          private final org.ejml.simple.SimpleMatrix bigInverseKinematics
          -
          • -
        - - - -
          -
        • -

          m_numModules

          -
          private final int m_numModules
          -
          • -
        - - - -
          -
        • -

          m_modules

          -
          private final edu.wpi.first.math.geometry.Translation2d[] m_modules
          -
          • -
        - - - - - - - -
          -
        • -

          m_prevCoR

          -
          private edu.wpi.first.math.geometry.Translation2d m_prevCoR
          -
          • -
        +
        edu.wpi.first.math.kinematics.ChassisSpeeds
        +
        toChassisSpeeds(SwerveModuleState2... wheelStates)
        +
        +
        Performs forward kinematics to return the resulting chassis state from the given module states.
        +
        +
        SwerveModuleState2[]
        +
        toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
        +
        +
        Performs inverse kinematics.
        +
        +
        SwerveModuleState2[]
        +
        toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds, + edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
        +
        +
        Performs inverse kinematics to return the module states from a desired chassis velocity.
        +
        +
        edu.wpi.first.math.geometry.Twist2d
        +
        toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)
        +
        +
        Performs forward kinematics to return the resulting chassis state from the given module states.
        +
        +
    +
    +
    +
    +

    Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics

    +desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    + +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        m_inverseKinematics

        +
        private final org.ejml.simple.SimpleMatrix m_inverseKinematics
        +
        Inverse kinematics matrix.
        +
        +
        • +
      • +
        +

        m_forwardKinematics

        +
        private final org.ejml.simple.SimpleMatrix m_forwardKinematics
        +
        Forward kinematics matrix.
        +
        +
        • +
      • +
        +

        bigInverseKinematics

        +
        private final org.ejml.simple.SimpleMatrix bigInverseKinematics
        +
        Second order kinematics inverse matrix.
        +
        +
        • +
      • +
        +

        m_numModules

        +
        private final int m_numModules
        +
        Number of swerve modules.
        +
        +
        • +
      • +
        +

        m_modules

        +
        private final edu.wpi.first.math.geometry.Translation2d[] m_modules
        +
        Location of each swerve module in meters.
        +
        +
        • +
      • +
        +

        m_moduleStates

        +
        private final SwerveModuleState2[] m_moduleStates
        +
        Swerve module states.
        +
        +
        • +
      • +
        +

        m_prevCoR

        +
        private edu.wpi.first.math.geometry.Translation2d m_prevCoR
        +
        Previous CoR
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SwerveKinematics2

          -
          public SwerveKinematics2​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SwerveKinematics2

            +
            public SwerveKinematics2(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)
            Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as Translation2ds. 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.
            -
            -
            Parameters:
            +
            +
            Parameters:
            wheelsMeters - The locations of the wheels relative to the physical center of the robot.
            -
            • -
          +
      + -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          desaturateWheelSpeeds

          -
          public static void desaturateWheelSpeeds​(SwerveModuleState2[] moduleStates,
-                                         double attainableMaxSpeedMetersPerSecond)
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            desaturateWheelSpeeds

            +
            public static void desaturateWheelSpeeds(SwerveModuleState2[] moduleStates, + double attainableMaxSpeedMetersPerSecond)
            Renormalizes the wheel speeds if any individual speed is above the specified maximum.

            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.

            -
            -
            Parameters:
            +
            +
            Parameters:
            moduleStates - Reference to array of module states. The array will be mutated with the normalized speeds!
            attainableMaxSpeedMetersPerSecond - The absolute max speed that a module can reach.
            +
            • -
          - - - -
            -
          • -

            desaturateWheelSpeeds

            -
            public static void desaturateWheelSpeeds​(SwerveModuleState2[] moduleStates,
-                                         edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
-                                         double attainableMaxModuleSpeedMetersPerSecond,
-                                         double attainableMaxTranslationalSpeedMetersPerSecond,
-                                         double attainableMaxRotationalVelocityRadiansPerSecond)
            +
          • +
            +

            desaturateWheelSpeeds

            +
            public static void desaturateWheelSpeeds(SwerveModuleState2[] moduleStates, + edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed, + double attainableMaxModuleSpeedMetersPerSecond, + double attainableMaxTranslationalSpeedMetersPerSecond, + double attainableMaxRotationalVelocityRadiansPerSecond)
            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. @@ -460,8 +329,8 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics 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.
            -
            -
            Parameters:
            +
            +
            Parameters:
            moduleStates - Reference to array of module states. The array will be mutated with the normalized speeds!
            currentChassisSpeed - The current speed of the robot
            @@ -470,16 +339,13 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics translating
            attainableMaxRotationalVelocityRadiansPerSecond - The absolute max speed the robot can reach while rotating
            +
            • -
          - - - -
            -
          • -

            toSwerveModuleStates

            -
            public SwerveModuleState2[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
-                                                 edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
            +
          • +
            +

            toSwerveModuleStates

            +
            public SwerveModuleState2[] toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds, + edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)
            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. @@ -490,150 +356,81 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics

            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.

            -
            -
            Overrides:
            +
            +
            Overrides:
            toSwerveModuleStates in class edu.wpi.first.math.kinematics.SwerveDriveKinematics
            -
            Parameters:
            +
            Parameters:
            chassisSpeeds - The desired chassis speed.
            centerOfRotationMeters - 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.
            -
            Returns:
            +
            Returns:
            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 DesaturateWheelSpeeds function to rectify this issue.
            +
            • -
          - - - -
            -
          • -

            toSwerveModuleStates

            -
            public SwerveModuleState2[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
            +
          • +
            +

            toSwerveModuleStates

            +
            public SwerveModuleState2[] toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
            Performs inverse kinematics. See toSwerveModuleStates(ChassisSpeeds, Translation2d) toSwerveModuleStates for more information.
            -
            -
            Overrides:
            +
            +
            Overrides:
            toSwerveModuleStates in class edu.wpi.first.math.kinematics.SwerveDriveKinematics
            -
            Parameters:
            +
            Parameters:
            chassisSpeeds - The desired chassis speed.
            -
            Returns:
            +
            Returns:
            An array containing the module states.
            +
            • -
          - - - -
            -
          • -

            toChassisSpeeds

            -
            public edu.wpi.first.math.kinematics.ChassisSpeeds toChassisSpeeds​(SwerveModuleState2... wheelStates)
            +
          • +
            +

            toChassisSpeeds

            +
            public edu.wpi.first.math.kinematics.ChassisSpeeds toChassisSpeeds(SwerveModuleState2... wheelStates)
            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.
            -
            -
            Parameters:
            +
            +
            Parameters:
            wheelStates - 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.
            -
            Returns:
            +
            Returns:
            The resulting chassis speed.
            +
            • -
          - - - -
            -
          • -

            toTwist2d

            -
            public edu.wpi.first.math.geometry.Twist2d toTwist2d​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)
            +
          • +
            +

            toTwist2d

            +
            public edu.wpi.first.math.geometry.Twist2d toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)
            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.
            -
            -
            Overrides:
            +
            +
            Overrides:
            toTwist2d in class edu.wpi.first.math.kinematics.SwerveDriveKinematics
            -
            Parameters:
            +
            Parameters:
            wheelDeltas - 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.
            -
            Returns:
            +
            Returns:
            The resulting Twist2d.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index e008fff..5a4e174 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,498 +1,371 @@ - - + SwerveMath + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.math
    -

    Class SwerveMath

    +
    Package swervelib.math
    +

    Class SwerveMath

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.math.SwerveMath
      +
      +
      -
      public class SwerveMath
-extends Object
      +
      public class SwerveMath +extends Object
      Mathematical functions which pertain to swerve drive.
      -
      • -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Constructor Summary

        - - - - - - - - - - -
        Constructors 
        ConstructorDescription
        SwerveMath() 
        -
        • -
      +
      +
        + +
      • +
        +

        Constructor Summary

        +
        Constructors
        +
        +
        Constructor
        +
        Description
        +
        SwerveMath()
        +
         
        +
        +
        +
        • -
        -
          -
        • - - -

          Method Summary

          - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
          All Methods Static Methods Concrete Methods 
          Modifier and TypeMethodDescription
          static doubleapplyDeadband​(double value, - boolean scaled, - double deadband) +
        • +
          +

          Method Summary

          +
          +
          +
          +
          +
          Modifier and Type
          +
          Method
          +
          Description
          +
          static double
          +
          applyDeadband(double value, + boolean scaled, + double deadband)
          +
          Algebraically apply a deadband using a piece wise function.
          -
          • private static doublecalcMaxAccel​(edu.wpi.first.math.geometry.Rotation2d angle, - double chassisMass, - double robotMass, - edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity, - SwerveDriveConfiguration config) + +
          private static double
          +
          calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d angle, + double chassisMass, + double robotMass, + edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity, + SwerveDriveConfiguration config)
          +
          Calculates the maximum acceleration allowed in a direction without tipping the robot.
          -
          static doublecalculateAngleKV​(double optimalVoltage, - double motorFreeSpeedRPM, - double angleGearRatio) + +
          static double
          +
          calculateAngleKV(double optimalVoltage, + double motorFreeSpeedRPM, + double angleGearRatio)
          +
          Calculate the angle kV which will be multiplied by the radians per second for the feedforward.
          -
          static doublecalculateDegreesPerSteeringRotation​(double angleGearRatio, - double pulsePerRotation) + +
          static double
          +
          calculateDegreesPerSteeringRotation(double angleGearRatio, + double pulsePerRotation)
          +
          Calculate the degrees per steering rotation for the integrated encoder.
          -
          static doublecalculateMaxAcceleration​(double cof) + +
          static double
          +
          calculateMaxAcceleration(double cof)
          +
          Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
          -
          static doublecalculateMaxAcceleration​(double stallTorqueNm, - double gearRatio, - double moduleCount, - double wheelDiameter, - double robotMass) + +
          static double
          +
          calculateMaxAcceleration(double stallTorqueNm, + double gearRatio, + double moduleCount, + double wheelDiameter, + double robotMass)
          +
          Calculate the maximum theoretical acceleration without friction.
          -
          static doublecalculateMaxAngularVelocity​(double maxSpeed, - double furthestModuleX, - double furthestModuleY) + +
          static double
          +
          calculateMaxAngularVelocity(double maxSpeed, + double furthestModuleX, + double furthestModuleY)
          +
          Calculate the maximum angular velocity.
          -
          static doublecalculateMetersPerRotation​(double wheelDiameter, - double driveGearRatio, - double pulsePerRotation) + +
          static double
          +
          calculateMetersPerRotation(double wheelDiameter, + double driveGearRatio, + double pulsePerRotation)
          +
          Calculate the meters per rotation for the integrated encoder.
          -
          static edu.wpi.first.math.geometry.Translation2dlimitVelocity​(edu.wpi.first.math.geometry.Translation2d commandedVelocity, - edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity, - edu.wpi.first.math.geometry.Pose2d robotPose, - double loopTime, - double chassisMass, - double robotMass, - edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity, - SwerveDriveConfiguration config) + +
          static edu.wpi.first.math.geometry.Translation2d
          +
          limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, + edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity, + edu.wpi.first.math.geometry.Pose2d robotPose, + double loopTime, + double chassisMass, + double robotMass, + edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity, + SwerveDriveConfiguration config)
          +
          Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration).
          -
          - -
          • -
        -
        - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SwerveMath

          -
          public SwerveMath()
          -
          • -
        +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    + +
    +
      + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        SwerveMath

        +
        public SwerveMath()
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          calculateAngleKV

          -
          public static double calculateAngleKV​(double optimalVoltage,
-                                      double motorFreeSpeedRPM,
-                                      double angleGearRatio)
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            calculateAngleKV

            +
            public static double calculateAngleKV(double optimalVoltage, + double motorFreeSpeedRPM, + double angleGearRatio)
            Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds / - degree <=> (maxVolts) / (maxSpeed)
            -
            -
            Parameters:
            + degree <=> (maxVolts) / (maxSpeed)
    +
    +
    Parameters:
    optimalVoltage - Optimal voltage to use when calculating the angle kV.
    motorFreeSpeedRPM - Motor free speed in Rotations per Minute.
    angleGearRatio - Angle gear ratio, the amount of times the motor as to turn for the wheel rotation.
    -
    Returns:
    +
    Returns:
    angle kV for feedforward.
    + - - - - -
      -
    • -

      calculateMetersPerRotation

      -
      public static double calculateMetersPerRotation​(double wheelDiameter,
-                                                double driveGearRatio,
-                                                double pulsePerRotation)
      +
    • +
      +

      calculateMetersPerRotation

      +
      public static double calculateMetersPerRotation(double wheelDiameter, + double driveGearRatio, + double pulsePerRotation)
      Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence] / gear ratio.
      -
      -
      Parameters:
      +
      +
      Parameters:
      wheelDiameter - Wheel diameter in meters.
      driveGearRatio - The gear ratio of the drive motor.
      pulsePerRotation - The number of encoder pulses per rotation. 1 if using an integrated encoder.
      -
      Returns:
      +
      Returns:
      Meters per rotation for the drive motor.
      +
      • -
    - - - -
      -
    • -

      applyDeadband

      -
      public static double applyDeadband​(double value,
-                                   boolean scaled,
-                                   double deadband)
      +
    • +
      +

      applyDeadband

      +
      public static double applyDeadband(double value, + boolean scaled, + double deadband)
      Algebraically apply a deadband using a piece wise function.
      -
      -
      Parameters:
      +
      +
      Parameters:
      value - value to apply deadband to.
      scaled - Use algebra to determine deadband by starting the value at 0 past deadband.
      deadband - The deadbnad to apply.
      -
      Returns:
      +
      Returns:
      Value with deadband applied.
      +
      • -
    - - - -
      -
    • -

      calculateDegreesPerSteeringRotation

      -
      public static double calculateDegreesPerSteeringRotation​(double angleGearRatio,
-                                                         double pulsePerRotation)
      +
    • +
      +

      calculateDegreesPerSteeringRotation

      +
      public static double calculateDegreesPerSteeringRotation(double angleGearRatio, + double pulsePerRotation)
      Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.
      -
      -
      Parameters:
      +
      +
      Parameters:
      angleGearRatio - The gear ratio of the steering motor.
      pulsePerRotation - The number of pulses in a complete rotation for the encoder, 1 if integrated.
      -
      Returns:
      +
      Returns:
      Degrees per steering rotation for the angle motor.
      +
      • -
    - - - -
      -
    • -

      calculateMaxAngularVelocity

      -
      public static double calculateMaxAngularVelocity​(double maxSpeed,
-                                                 double furthestModuleX,
-                                                 double furthestModuleY)
      +
    • +
      +

      calculateMaxAngularVelocity

      +
      public static double calculateMaxAngularVelocity(double maxSpeed, + double furthestModuleX, + double furthestModuleY)
      Calculate the maximum angular velocity.
      -
      -
      Parameters:
      +
      +
      Parameters:
      maxSpeed - Max speed of the robot in meters per second.
      furthestModuleX - X of the furthest module in meters.
      furthestModuleY - Y of the furthest module in meters.
      -
      Returns:
      +
      Returns:
      Maximum angular velocity in rad/s.
      +
      • -
    - - - -
      -
    • -

      calculateMaxAcceleration

      -
      public static double calculateMaxAcceleration​(double cof)
      +
    • +
      +

      calculateMaxAcceleration

      +
      public static double calculateMaxAcceleration(double cof)
      Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
      -
      -
      Parameters:
      +
      +
      Parameters:
      cof - Coefficient of Friction of the wheel grip tape.
      -
      Returns:
      +
      Returns:
      Practical maximum acceleration in m/s/s.
      +
      • -
    - - - -
      -
    • -

      calculateMaxAcceleration

      -
      public static double calculateMaxAcceleration​(double stallTorqueNm,
-                                              double gearRatio,
-                                              double moduleCount,
-                                              double wheelDiameter,
-                                              double robotMass)
      +
    • +
      +

      calculateMaxAcceleration

      +
      public static double calculateMaxAcceleration(double stallTorqueNm, + double gearRatio, + double moduleCount, + double wheelDiameter, + double robotMass)
      Calculate the maximum theoretical acceleration without friction.
      -
      -
      Parameters:
      +
      +
      Parameters:
      stallTorqueNm - Stall torque of driving motor in nM.
      gearRatio - Gear ratio for driving motor number of motor rotations until one wheel rotation.
      moduleCount - Number of swerve modules.
      wheelDiameter - Wheel diameter in meters.
      robotMass - Mass of the robot in kg.
      -
      Returns:
      +
      Returns:
      Theoretical maximum acceleration in m/s/s.
      +
      • -
    - - - -
      -
    • -

      calcMaxAccel

      -
      private static double calcMaxAccel​(edu.wpi.first.math.geometry.Rotation2d angle,
-                                   double chassisMass,
-                                   double robotMass,
-                                   edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
-                                   SwerveDriveConfiguration config)
      +
    • +
      +

      calcMaxAccel

      +
      private static double calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d angle, + double chassisMass, + double robotMass, + edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity, + SwerveDriveConfiguration config)
      Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from NetworkTables and is passed the direction in question.
      -
      -
      Parameters:
      +
      +
      Parameters:
      angle - The direction in which to calculate max acceleration, as a Rotation2d. Note that this is robot-relative.
      chassisMass - Chassis mass in kg. (The weight of just the chassis not anything else)
      robotMass - The weight of the robot in kg. (Including manipulators, etc).
      chassisCenterOfGravity - Chassis center of gravity.
      config - The swerve drive configuration.
      -
      Returns:
      +
      Returns:
      Maximum acceleration allowed in the robot direction.
      +
      • -
    - - - -
      -
    • -

      limitVelocity

      -
      public static edu.wpi.first.math.geometry.Translation2d limitVelocity​(edu.wpi.first.math.geometry.Translation2d commandedVelocity,
-                                                                      edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
-                                                                      edu.wpi.first.math.geometry.Pose2d robotPose,
-                                                                      double loopTime,
-                                                                      double chassisMass,
-                                                                      double robotMass,
-                                                                      edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
-                                                                      SwerveDriveConfiguration config)
      +
    • +
      +

      limitVelocity

      +
      public static edu.wpi.first.math.geometry.Translation2d limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, + edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity, + edu.wpi.first.math.geometry.Pose2d robotPose, + double loopTime, + double chassisMass, + double robotMass, + edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity, + SwerveDriveConfiguration config)
      Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration). Note that this takes and returns field-relative velocities.
      -
      -
      Parameters:
      +
      +
      Parameters:
      commandedVelocity - The desired velocity
      fieldVelocity - The velocity of the robot within a field relative state.
      robotPose - The current pose of the robot.
      @@ -502,80 +375,20 @@ extends Returns: +
      Returns:
      The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable velocity.
      -
      • -
    + -
    -
    - + - diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html index 92c5bd8..128774a 100644 --- a/docs/swervelib/math/SwerveModuleState2.html +++ b/docs/swervelib/math/SwerveModuleState2.html @@ -1,386 +1,217 @@ - - + SwerveModuleState2 + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.math
    -

    Class SwerveModuleState2

    +
    Package swervelib.math
    +

    Class SwerveModuleState2

    -
    -
      -
    • java.lang.Object
      • -
    • -
        -
      • edu.wpi.first.math.kinematics.SwerveModuleState
        • -
      • -
          -
        • swervelib.math.SwerveModuleState2
          • -
        -
        • -
      -
      • -
    -
    -
      -
    • -
      +
      java.lang.Object +
      edu.wpi.first.math.kinematics.SwerveModuleState +
      swervelib.math.SwerveModuleState2
      +
      +
      +
      +
      All Implemented Interfaces:
      -
      Comparable<edu.wpi.first.math.kinematics.SwerveModuleState>
      +
      Comparable<edu.wpi.first.math.kinematics.SwerveModuleState>
      -
      public class SwerveModuleState2
-extends edu.wpi.first.math.kinematics.SwerveModuleState
      +
      public class SwerveModuleState2 +extends edu.wpi.first.math.kinematics.SwerveModuleState
      Second order kinematics swerve module state.
      -
      • -
    -
    -
    -
      -
    • + +
      +
        -
        - -
        - -
        -
          -
        • - - -

          Constructor Summary

          - - - - - - - - - - - - - - -
          Constructors 
          ConstructorDescription
          SwerveModuleState2() -
          Constructs a SwerveModuleState with zeros for speed and angle.
          -
          SwerveModuleState2​(double speedMetersPerSecond, - edu.wpi.first.math.geometry.Rotation2d angle, - double omegaRadPerSecond) -
          Constructs a SwerveModuleState.
          -
          -
          • -
        -
        - -
        - -
        - -
      +
    • +
      +

      Field Summary

      +
      Fields
      +
      +
      Modifier and Type
      +
      Field
      +
      Description
      +
      edu.wpi.first.math.geometry.Rotation2d
      +
      angle
      +
      +
      Swerve module angle as a Rotation2d.
      -
      -
        -
      • - -
        -
          -
        • - - -

          Field Detail

          - - - -
            -
          • -

            speedMetersPerSecond

            -
            public double speedMetersPerSecond
            -
            • -
          - - - -
      +
      • -
    - - - -
      -
    • -

      angle

      -
      public edu.wpi.first.math.geometry.Rotation2d angle
      + +
    • +
      +

      Constructor Summary

      +
      Constructors
      +
      +
      Constructor
      +
      Description
      +
      SwerveModuleState2()
      +
      +
      Constructs a SwerveModuleState with zeros for speed and angle.
      +
      +
      SwerveModuleState2(double speedMetersPerSecond, + edu.wpi.first.math.geometry.Rotation2d angle, + double omegaRadPerSecond)
      +
      +
      Constructs a SwerveModuleState.
      +
      +
      +
      • -
    + +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class edu.wpi.first.math.kinematics.SwerveModuleState

    +compareTo, equals, hashCode, optimize, toString
    +
    +

    Methods inherited from class java.lang.Object

    +clone, finalize, getClass, notify, notifyAll, wait, wait, wait
    +
    • - -
    -
      -
    • - - -

      Constructor Detail

      - - - -
        -
      • -

        SwerveModuleState2

        -
        public SwerveModuleState2()
        -
        Constructs a SwerveModuleState with zeros for speed and angle.
        +
        +
          + +
        • +
          +

          Field Details

          +
            +
          • +
            +

            speedMetersPerSecond

            +
            public double speedMetersPerSecond
            +
            Swerve module speed in meters per second.
            +
            +
            • +
          • +
            +

            omegaRadPerSecond

            +
            public double omegaRadPerSecond
            +
            Rad per sec
            +
            +
            • +
          • +
            +

            angle

            +
            public edu.wpi.first.math.geometry.Rotation2d angle
            +
            Swerve module angle as a Rotation2d.
            +
          - - - -
            -
          • -

            SwerveModuleState2

            -
            public SwerveModuleState2​(double speedMetersPerSecond,
-                          edu.wpi.first.math.geometry.Rotation2d angle,
-                          double omegaRadPerSecond)
            +
          +
          • + +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SwerveModuleState2

            +
            public SwerveModuleState2()
            +
            Constructs a SwerveModuleState with zeros for speed and angle.
            +
            +
            • +
          • +
            +

            SwerveModuleState2

            +
            public SwerveModuleState2(double speedMetersPerSecond, + edu.wpi.first.math.geometry.Rotation2d angle, + double omegaRadPerSecond)
            Constructs a SwerveModuleState.
            -
            -
            Parameters:
            +
            +
            Parameters:
            speedMetersPerSecond - The speed of the wheel of the module.
            angle - The angle of the module.
            omegaRadPerSecond - The angular velocity of the module.
            -
            • -
          +
      -
    -
    -
    + - diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index 0669b48..c881bcf 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,180 +1,112 @@ - - + swervelib.math + - + + + - + - - - - - + + - - -
    +
    + +
    -

    Package swervelib.math

    +

    Package swervelib.math

    -
    -
    +
    +
    -
    + -
    - -
    diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index bf597c8..17473c9 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,172 +1,81 @@ - - + swervelib.math Class Hierarchy + - + + + - + - - - - - + + - - -
    +
    + +

    Hierarchy For Package swervelib.math

    -Package Hierarchies: +Package Hierarchies:
    -
    -
    +

    Class Hierarchy

    -
    - diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index 91229d7..e22edd7 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,437 +1,268 @@ - - + SparkMaxSwerve.SparkMAX_slotIdx + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.motors
    -

    Enum SparkMaxSwerve.SparkMAX_slotIdx

    +
    Package swervelib.motors
    +

    Enum Class SparkMaxSwerve.SparkMAX_slotIdx

    -
    - -
    -
    -
    -
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Enum

    +clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
    +
    +

    Methods inherited from class java.lang.Object

    +getClass, notify, notifyAll, wait, wait, wait
    -
    -
    -
      -
    • + +
      +
        -
        -
        + -
        -
          -
        • - - -

          Constructor Detail

          - - - -
            -
          • -

            SparkMAX_slotIdx

            -
            private SparkMAX_slotIdx()
            -
            • -
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SparkMAX_slotIdx

            +
            private SparkMAX_slotIdx()
            +
          +
          • -
          -
            -
          • - - -

            Method Detail

            - - - -
              -
            • -

              values

              -
              public static SparkMaxSwerve.SparkMAX_slotIdx[] values()
              -
              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: -
              -for (SparkMaxSwerve.SparkMAX_slotIdx c : SparkMaxSwerve.SparkMAX_slotIdx.values())
-    System.out.println(c);
-
              -
              -
              Returns:
              -
              an array containing the constants of this enum type, in the order they are declared
              +
            • +
              +

              Method Details

              +
                +
              • +
                +

                values

                +
                public static SparkMaxSwerve.SparkMAX_slotIdx[] values()
                +
                Returns an array containing the constants of this enum class, in +the order they are declared.
                +
                +
                Returns:
                +
                an array containing the constants of this enum class, in the order they are declared
                +
                • -
              - - - -
                -
              • -

                valueOf

                -
                public static SparkMaxSwerve.SparkMAX_slotIdx valueOf​(String name)
                -
                Returns the enum constant of this type with the specified name. +
              • +
                +

                valueOf

                +
                public static SparkMaxSwerve.SparkMAX_slotIdx valueOf(String name)
                +
                Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an -enum constant in this type. (Extraneous whitespace characters are +enum constant in this class. (Extraneous whitespace characters are not permitted.)
                -
                -
                Parameters:
                +
                +
                Parameters:
                name - the name of the enum constant to be returned.
                -
                Returns:
                +
                Returns:
                the enum constant with the specified name
                -
                Throws:
                -
                IllegalArgumentException - if this enum type has no constant with the specified name
                -
                NullPointerException - if the argument is null
                +
                Throws:
                +
                IllegalArgumentException - if this enum class has no constant with the specified name
                +
                NullPointerException - if the argument is null
                -
                • -
              +
        -
    -
    - + - diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index fd3d382..fcc44e8 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,949 +1,654 @@ - - + SparkMaxSwerve + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.motors
    -

    Class SparkMaxSwerve

    +
    Package swervelib.motors
    +

    Class SparkMaxSwerve

    -
    - -
    - -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Nested Class Summary

          - - - - - - - - - - - - -
          Nested Classes 
          Modifier and TypeClassDescription
          (package private) static class SparkMaxSwerve.SparkMAX_slotIdx +
        • +
          +

          Nested Class Summary

          +
          Nested Classes
          +
          +
          Modifier and Type
          +
          Class
          +
          Description
          +
          (package private) static enum 
          +
          SparkMaxSwerve.SparkMAX_slotIdx
          +
          REV Slots for PID configuration.
          -
          • -
          • -
        +
    +
    + -
    -
      -
    • - - -

      Field Summary

      - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
      Fields 
      Modifier and TypeFieldDescription
      com.revrobotics.AbsoluteEncoderabsoluteEncoder +
    • +
      +

      Field Summary

      +
      Fields
      +
      +
      Modifier and Type
      +
      Field
      +
      Description
      +
      com.revrobotics.AbsoluteEncoder
      +
      absoluteEncoder
      +
      Absolute encoder attached to the SparkMax (if exists)
      -
      • com.revrobotics.RelativeEncoderencoder + +
      com.revrobotics.RelativeEncoder
      +
      encoder
      +
      Integrated encoder.
      -
      private booleanfactoryDefaultOccurred + +
      private boolean
      +
      factoryDefaultOccurred
      +
      Factory default already occurred.
      -
      com.revrobotics.CANSparkMaxmotor + +
      com.revrobotics.CANSparkMax
      +
      motor
      +
      SparkMAX Instance.
      -
      com.revrobotics.SparkMaxPIDControllerpid + +
      com.revrobotics.SparkMaxPIDController
      +
      pid
      +
      Closed-loop PID controller.
      -
      - -
      • -
    +
    +
    +
    +

    Fields inherited from class swervelib.motors.SwerveMotor

    +isDriveMotor
    + -
    -
      -
    • - - -

      Constructor Summary

      - - - - - - - - - - - - - - -
      Constructors 
      ConstructorDescription
      SparkMaxSwerve​(int id, - boolean isDriveMotor) +
    • +
      +

      Constructor Summary

      +
      Constructors
      +
      +
      Constructor
      +
      Description
      +
      SparkMaxSwerve(int id, + boolean isDriveMotor)
      +
      Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
      -
      • SparkMaxSwerve​(com.revrobotics.CANSparkMax motor, - boolean isDriveMotor) + +
      SparkMaxSwerve(com.revrobotics.CANSparkMax motor, + boolean isDriveMotor)
      +
      Initialize the swerve motor.
      -
      -
      • -
    +
    +
    + -
    - -
    - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          motor

          -
          public com.revrobotics.CANSparkMax motor
          -
          SparkMAX Instance.
          -
          • -
        - - - -
          -
        • -

          encoder

          -
          public com.revrobotics.RelativeEncoder encoder
          -
          Integrated encoder.
          -
          • -
        - - - -
          -
        • -

          absoluteEncoder

          -
          public com.revrobotics.AbsoluteEncoder absoluteEncoder
          -
          Absolute encoder attached to the SparkMax (if exists)
          -
          • -
        - - - -
          -
        • -

          pid

          -
          public com.revrobotics.SparkMaxPIDController pid
          -
          Closed-loop PID controller.
          -
          • -
        - - - -
          -
        • -

          factoryDefaultOccurred

          -
          private boolean factoryDefaultOccurred
          -
          Factory default already occurred.
          -
          • -
        +
        void
        +
        setInverted(boolean inverted)
        +
        +
        Set the motor to be inverted.
        +
        +
        void
        +
        setLoopRampRate(double rampRate)
        +
        +
        Set the maximum rate the open/closed loop output can change by.
        +
        +
        void
        +
        setMotorBrake(boolean isBrakeMode)
        +
        +
        Set the idle mode.
        +
        +
        void
        +
        setPosition(double position)
        +
        +
        Set the integrated encoder position.
        +
        +
        void
        +
        setReference(double setpoint, + double feedforward)
        +
        +
        Set the closed loop PID controller reference point.
        +
        +
        void
        +
        setVoltageCompensation(double nominalVoltage)
        +
        +
        Set the voltage compensation for the swerve module motor.
        +
        +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    + +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        motor

        +
        public com.revrobotics.CANSparkMax motor
        +
        SparkMAX Instance.
        +
        +
        • +
      • +
        +

        encoder

        +
        public com.revrobotics.RelativeEncoder encoder
        +
        Integrated encoder.
        +
        +
        • +
      • +
        +

        absoluteEncoder

        +
        public com.revrobotics.AbsoluteEncoder absoluteEncoder
        +
        Absolute encoder attached to the SparkMax (if exists)
        +
        +
        • +
      • +
        +

        pid

        +
        public com.revrobotics.SparkMaxPIDController pid
        +
        Closed-loop PID controller.
        +
        +
        • +
      • +
        +

        factoryDefaultOccurred

        +
        private boolean factoryDefaultOccurred
        +
        Factory default already occurred.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SparkMaxSwerve

          -
          public SparkMaxSwerve​(com.revrobotics.CANSparkMax motor,
-                      boolean isDriveMotor)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SparkMaxSwerve

            +
            public SparkMaxSwerve(com.revrobotics.CANSparkMax motor, + boolean isDriveMotor)
            Initialize the swerve motor.
            -
            -
            Parameters:
            +
            +
            Parameters:
            motor - The SwerveMotor as a SparkMax object.
            isDriveMotor - Is the motor being initialized a drive motor?
            +
            • -
          - - - -
            -
          • -

            SparkMaxSwerve

            -
            public SparkMaxSwerve​(int id,
-                      boolean isDriveMotor)
            +
          • +
            +

            SparkMaxSwerve

            +
            public SparkMaxSwerve(int id, + boolean isDriveMotor)
            Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.
            -
            -
            Parameters:
            +
            +
            Parameters:
            id - CAN ID of the SparkMax.
            isDriveMotor - Is the motor being initialized a drive motor?
            -
            • -
          +
      + -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          setVoltageCompensation

          -
          public void setVoltageCompensation​(double nominalVoltage)
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            setVoltageCompensation

            +
            public void setVoltageCompensation(double nominalVoltage)
            Set the voltage compensation for the swerve module motor.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setVoltageCompensation in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            nominalVoltage - Nominal voltage for operation to output to.
            +
            • -
          - - - -
            -
          • -

            setCurrentLimit

            -
            public void setCurrentLimit​(int currentLimit)
            +
          • +
            +

            setCurrentLimit

            +
            public void setCurrentLimit(int currentLimit)
            Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation. This is useful to protect the motor from current spikes.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setCurrentLimit in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            currentLimit - Current limit in AMPS at free speed.
            +
            • -
          - - - -
            -
          • -

            setLoopRampRate

            -
            public void setLoopRampRate​(double rampRate)
            +
          • +
            +

            setLoopRampRate

            +
            public void setLoopRampRate(double rampRate)
            Set the maximum rate the open/closed loop output can change by.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setLoopRampRate in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            rampRate - Time in seconds to go from 0 to full throttle.
            +
            • -
          - - - -
            -
          • -

            getMotor

            -
            public Object getMotor()
            +
          • +
            +

            getMotor

            +
            public Object getMotor()
            Get the motor object from the module.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getMotor in class SwerveMotor
            -
            Returns:
            +
            Returns:
            Motor object.
            +
            • -
          - - - -
            -
          • -

            isAttachedAbsoluteEncoder

            -
            public boolean isAttachedAbsoluteEncoder()
            +
          • +
            +

            isAttachedAbsoluteEncoder

            +
            public boolean isAttachedAbsoluteEncoder()
            Queries whether the absolute encoder is directly attached to the motor controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            isAttachedAbsoluteEncoder in class SwerveMotor
            -
            Returns:
            +
            Returns:
            connected absolute encoder state.
            +
            • -
          - - - -
            -
          • -

            factoryDefaults

            -
            public void factoryDefaults()
            +
          • +
            +

            factoryDefaults

            +
            public void factoryDefaults()
            Configure the factory defaults.
            -
            -
            Specified by:
            +
            +
            Specified by:
            factoryDefaults in class SwerveMotor
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public void clearStickyFaults()
            Clear the sticky faults on the motor controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            clearStickyFaults in class SwerveMotor
            +
            • -
          - - - - - - - -
            -
          • -

            configureIntegratedEncoder

            -
            public void configureIntegratedEncoder​(double positionConversionFactor)
            +
          • +
            +

            configureIntegratedEncoder

            +
            public void configureIntegratedEncoder(double positionConversionFactor)
            Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configureIntegratedEncoder in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            positionConversionFactor - The conversion factor to apply.
            +
            • -
          - - - -
            -
          • -

            configurePIDF

            -
            public void configurePIDF​(PIDFConfig config)
            +
          • +
            +

            configurePIDF

            +
            public void configurePIDF(PIDFConfig config)
            Configure the PIDF values for the closed loop controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configurePIDF in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            config - Configuration class holding the PIDF values.
            +
            • -
          - - - -
            -
          • -

            configurePIDWrapping

            -
            public void configurePIDWrapping​(double minInput,
-                                 double maxInput)
            +
          • +
            +

            configurePIDWrapping

            +
            public void configurePIDWrapping(double minInput, + double maxInput)
            Configure the PID wrapping for the position closed loop controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configurePIDWrapping in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            minInput - Minimum PID input.
            maxInput - Maximum PID input.
            +
            • -
          - - - -
            -
          • -

            configureCANStatusFrames

            -
            public void configureCANStatusFrames​(int CANStatus0,
-                                     int CANStatus1,
-                                     int CANStatus2,
-                                     int CANStatus3,
-                                     int CANStatus4)
            +
          • +
            +

            configureCANStatusFrames

            +
            public void configureCANStatusFrames(int CANStatus0, + int CANStatus1, + int CANStatus2, + int CANStatus3, + int CANStatus4)
            Set the CAN status frames.
            -
            -
            Parameters:
            +
            +
            Parameters:
            CANStatus0 - Applied Output, Faults, Sticky Faults, Is Follower
            CANStatus1 - Motor Velocity, Motor Temperature, Motor Voltage, Motor Current
            CANStatus2 - Motor Position
            CANStatus3 - Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position
            CANStatus4 - Alternate Encoder Velocity, Alternate Encoder Position
            +
            • -
          - - - -
            -
          • -

            setMotorBrake

            -
            public void setMotorBrake​(boolean isBrakeMode)
            +
          • +
            +

            setMotorBrake

            +
            public void setMotorBrake(boolean isBrakeMode)
            Set the idle mode.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setMotorBrake in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            isBrakeMode - Set the brake mode.
            +
            • -
          - - - -
            -
          • -

            setInverted

            -
            public void setInverted​(boolean inverted)
            +
          • +
            +

            setInverted

            +
            public void setInverted(boolean inverted)
            Set the motor to be inverted.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setInverted in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            inverted - State of inversion.
            +
            • -
          - - - -
            -
          • -

            burnFlash

            -
            public void burnFlash()
            +
          • +
            +

            burnFlash

            +
            public void burnFlash()
            Save the configurations from flash to EEPROM.
            -
            -
            Specified by:
            +
            +
            Specified by:
            burnFlash in class SwerveMotor
            +
            • -
          - - - -
            -
          • -

            set

            -
            public void set​(double percentOutput)
            +
          • +
            +

            set

            +
            public void set(double percentOutput)
            Set the percentage output.
            -
            -
            Specified by:
            +
            +
            Specified by:
            set in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            percentOutput - percent out for the motor controller.
            +
            • -
          - - - -
            -
          • -

            setReference

            -
            public void setReference​(double setpoint,
-                         double feedforward)
            +
          • +
            +

            setReference

            +
            public void setReference(double setpoint, + double feedforward)
            Set the closed loop PID controller reference point.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setReference in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            setpoint - Setpoint in MPS or Angle in degrees.
            feedforward - Feedforward in volt-meter-per-second or kV.
            +
            • -
          - - - -
            -
          • -

            getVelocity

            -
            public double getVelocity()
            +
          • +
            +

            getVelocity

            +
            public double getVelocity()
            Get the velocity of the integrated encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getVelocity in class SwerveMotor
            -
            Returns:
            +
            Returns:
            velocity
            +
            • -
          - - - -
            -
          • -

            getPosition

            -
            public double getPosition()
            +
          • +
            +

            getPosition

            +
            public double getPosition()
            Get the position of the integrated encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getPosition in class SwerveMotor
            -
            Returns:
            +
            Returns:
            Position
            +
            • -
          - - - -
            -
          • -

            setPosition

            -
            public void setPosition​(double position)
            +
          • +
            +

            setPosition

            +
            public void setPosition(double position)
            Set the integrated encoder position.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setPosition in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            position - Integrated encoder position.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index 0f154ee..d54ee9b 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,736 +1,488 @@ - - + SwerveMotor + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.motors
    -

    Class SwerveMotor

    +
    Package swervelib.motors
    +

    Class SwerveMotor

    -
    - -
    - -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          protected booleanisDriveMotor +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          protected boolean
          +
          isDriveMotor
          +
          Whether the swerve motor is a drive motor.
          -
          • -
          • -
        +
    +
    + -
    -
      -
    • - - -

      Constructor Summary

      - - - - - - - - - - -
      Constructors 
      ConstructorDescription
      SwerveMotor() 
      -
      • -
    +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    SwerveMotor()
    +
     
    +
    +
    • -
    - -
    - -
    -
    -
      -
    • +
      abstract void
      +
      setInverted(boolean inverted)
      +
      +
      Set the motor to be inverted.
      +
      +
      abstract void
      +
      setLoopRampRate(double rampRate)
      +
      +
      Set the maximum rate the open/closed loop output can change by.
      +
      +
      abstract void
      +
      setMotorBrake(boolean isBrakeMode)
      +
      +
      Set the idle mode.
      +
      +
      abstract void
      +
      setPosition(double position)
      +
      +
      Set the integrated encoder position.
      +
      +
      abstract void
      +
      setReference(double setpoint, + double feedforward)
      +
      +
      Set the closed loop PID controller reference point.
      +
      +
      abstract void
      +
      setVoltageCompensation(double nominalVoltage)
      +
      +
      Set the voltage compensation for the swerve module motor.
      +
      +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    + + + + +
    +
      -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          isDriveMotor

          -
          protected boolean isDriveMotor
          +
        • +
          +

          Field Details

          +
            +
          • +
            +

            isDriveMotor

            +
            protected boolean isDriveMotor
            Whether the swerve motor is a drive motor.
            -
            • -
          +
      + -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SwerveMotor

          -
          public SwerveMotor()
          -
          • -
        +
      • +
        +

        Constructor Details

        +
          +
        • +
          +

          SwerveMotor

          +
          public SwerveMotor()
          +
        +
        • -
        -
          -
        • - - -

          Method Detail

          - - - -
            -
          • -

            factoryDefaults

            -
            public abstract void factoryDefaults()
            +
          • +
            +

            Method Details

            +
              +
            • +
              +

              factoryDefaults

              +
              public abstract void factoryDefaults()
              Configure the factory defaults.
              +
              • -
            - - - -
              -
            • -

              clearStickyFaults

              -
              public abstract void clearStickyFaults()
              +
            • +
              +

              clearStickyFaults

              +
              public abstract void clearStickyFaults()
              Clear the sticky faults on the motor controller.
              +
              • -
            - - - -
              -
            • -

              setAbsoluteEncoder

              -
              public abstract SwerveMotor setAbsoluteEncoder​(SwerveAbsoluteEncoder encoder)
              +
            • +
              +

              setAbsoluteEncoder

              +
              public abstract SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
              Set the absolute encoder to be a compatible absolute encoder.
              -
              -
              Parameters:
              +
              +
              Parameters:
              encoder - The encoder to use.
              +
              Returns:
              +
              The SwerveMotor for single line configuration.
              +
              • -
            - - - -
              -
            • -

              configureIntegratedEncoder

              -
              public abstract void configureIntegratedEncoder​(double positionConversionFactor)
              +
            • +
              +

              configureIntegratedEncoder

              +
              public abstract void configureIntegratedEncoder(double positionConversionFactor)
              Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
              -
              -
              Parameters:
              +
              +
              Parameters:
              positionConversionFactor - The conversion factor to apply for position.
              +
              • -
            - - - -
              -
            • -

              configurePIDF

              -
              public abstract void configurePIDF​(PIDFConfig config)
              +
            • +
              +

              configurePIDF

              +
              public abstract void configurePIDF(PIDFConfig config)
              Configure the PIDF values for the closed loop controller. 0 is disabled or off.
              -
              -
              Parameters:
              +
              +
              Parameters:
              config - Configuration class holding the PIDF values.
              +
              • -
            - - - -
              -
            • -

              configurePIDWrapping

              -
              public abstract void configurePIDWrapping​(double minInput,
-                                          double maxInput)
              +
            • +
              +

              configurePIDWrapping

              +
              public abstract void configurePIDWrapping(double minInput, + double maxInput)
              Configure the PID wrapping for the position closed loop controller.
              -
              -
              Parameters:
              +
              +
              Parameters:
              minInput - Minimum PID input.
              maxInput - Maximum PID input.
              +
              • -
            - - - -
              -
            • -

              setMotorBrake

              -
              public abstract void setMotorBrake​(boolean isBrakeMode)
              +
            • +
              +

              setMotorBrake

              +
              public abstract void setMotorBrake(boolean isBrakeMode)
              Set the idle mode.
              -
              -
              Parameters:
              +
              +
              Parameters:
              isBrakeMode - Set the brake mode.
              +
              • -
            - - - -
              -
            • -

              setInverted

              -
              public abstract void setInverted​(boolean inverted)
              +
            • +
              +

              setInverted

              +
              public abstract void setInverted(boolean inverted)
              Set the motor to be inverted.
              -
              -
              Parameters:
              +
              +
              Parameters:
              inverted - State of inversion.
              +
              • -
            - - - -
              -
            • -

              burnFlash

              -
              public abstract void burnFlash()
              +
            • +
              +

              burnFlash

              +
              public abstract void burnFlash()
              Save the configurations from flash to EEPROM.
              +
              • -
            - - - -
              -
            • -

              set

              -
              public abstract void set​(double percentOutput)
              +
            • +
              +

              set

              +
              public abstract void set(double percentOutput)
              Set the percentage output.
              -
              -
              Parameters:
              +
              +
              Parameters:
              percentOutput - percent out for the motor controller.
              +
              • -
            - - - -
              -
            • -

              setReference

              -
              public abstract void setReference​(double setpoint,
-                                  double feedforward)
              +
            • +
              +

              setReference

              +
              public abstract void setReference(double setpoint, + double feedforward)
              Set the closed loop PID controller reference point.
              -
              -
              Parameters:
              +
              +
              Parameters:
              setpoint - Setpoint in MPS or Angle in degrees.
              feedforward - Feedforward in volt-meter-per-second or kV.
              +
              • -
            - - - -
              -
            • -

              getVelocity

              -
              public abstract double getVelocity()
              +
            • +
              +

              getVelocity

              +
              public abstract double getVelocity()
              Get the velocity of the integrated encoder.
              -
              -
              Returns:
              +
              +
              Returns:
              velocity
              +
              • -
            - - - -
              -
            • -

              getPosition

              -
              public abstract double getPosition()
              +
            • +
              +

              getPosition

              +
              public abstract double getPosition()
              Get the position of the integrated encoder.
              -
              -
              Returns:
              +
              +
              Returns:
              Position
              +
              • -
            - - - -
              -
            • -

              setPosition

              -
              public abstract void setPosition​(double position)
              +
            • +
              +

              setPosition

              +
              public abstract void setPosition(double position)
              Set the integrated encoder position.
              -
              -
              Parameters:
              +
              +
              Parameters:
              position - Integrated encoder position. Should be angle in degrees or meters per second.
              +
              • -
            - - - -
              -
            • -

              setVoltageCompensation

              -
              public abstract void setVoltageCompensation​(double nominalVoltage)
              +
            • +
              +

              setVoltageCompensation

              +
              public abstract void setVoltageCompensation(double nominalVoltage)
              Set the voltage compensation for the swerve module motor.
              -
              -
              Parameters:
              +
              +
              Parameters:
              nominalVoltage - Nominal voltage for operation to output to.
              +
              • -
            - - - -
              -
            • -

              setCurrentLimit

              -
              public abstract void setCurrentLimit​(int currentLimit)
              +
            • +
              +

              setCurrentLimit

              +
              public abstract void setCurrentLimit(int currentLimit)
              Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation. This is useful to protect the motor from current spikes.
              -
              -
              Parameters:
              +
              +
              Parameters:
              currentLimit - Current limit in AMPS at free speed.
              +
              • -
            - - - -
              -
            • -

              setLoopRampRate

              -
              public abstract void setLoopRampRate​(double rampRate)
              +
            • +
              +

              setLoopRampRate

              +
              public abstract void setLoopRampRate(double rampRate)
              Set the maximum rate the open/closed loop output can change by.
              -
              -
              Parameters:
              +
              +
              Parameters:
              rampRate - Time in seconds to go from 0 to full throttle.
              +
              • -
            - - - -
              -
            • -

              getMotor

              -
              public abstract Object getMotor()
              +
            • +
              +

              getMotor

              +
              public abstract Object getMotor()
              Get the motor object from the module.
              -
              -
              Returns:
              +
              +
              Returns:
              Motor object.
              +
              • -
            - - - -
              -
            • -

              isAttachedAbsoluteEncoder

              -
              public abstract boolean isAttachedAbsoluteEncoder()
              +
            • +
              +

              isAttachedAbsoluteEncoder

              +
              public abstract boolean isAttachedAbsoluteEncoder()
              Queries whether the absolute encoder is directly attached to the motor controller.
              -
              -
              Returns:
              +
              +
              Returns:
              connected absolute encoder state.
              -
              • -
            +
      -
    -
    - + - diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index 6d8f8af..a668c08 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,902 +1,626 @@ - - + TalonFXSwerve + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.motors
    -

    Class TalonFXSwerve

    +
    Package swervelib.motors
    +

    Class TalonFXSwerve

    -
    - -
    - -
    -
    -
    +
    +
    +

    Fields inherited from class swervelib.motors.SwerveMotor

    +isDriveMotor
    + -
    -
      -
    • - - -

      Constructor Summary

      - - - - - - - - - - - - - - - - - - -
      Constructors 
      ConstructorDescription
      TalonFXSwerve​(int id, - boolean isDriveMotor) +
    • +
      +

      Constructor Summary

      +
      Constructors
      +
      +
      Constructor
      +
      Description
      +
      TalonFXSwerve(int id, + boolean isDriveMotor)
      +
      Construct the TalonFX swerve motor given the ID.
      -
      • TalonFXSwerve​(int id, - String canbus, - boolean isDriveMotor) + +
      TalonFXSwerve(int id, + String canbus, + boolean isDriveMotor)
      +
      Construct the TalonFX swerve motor given the ID and CANBus.
      -
      TalonFXSwerve​(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor, - boolean isDriveMotor) + +
      TalonFXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor, + boolean isDriveMotor)
      +
      Constructor for TalonFX swerve motor.
      -
      -
      • -
    +
    +
    + -
    - -
    - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          motor

          -
          com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor
          -
          TalonFX motor controller.
          -
          • -
        - - - -
          -
        • -

          factoryDefaultOccurred

          -
          private final boolean factoryDefaultOccurred
          -
          Factory default already occurred.
          -
          -
          See Also:
          -
          Constant Field Values
          -
          -
          • -
        - - - -
          -
        • -

          absoluteEncoder

          -
          private boolean absoluteEncoder
          -
          Whether the absolute encoder is integrated.
          -
          • -
        - - - -
          -
        • -

          positionConversionFactor

          -
          private double positionConversionFactor
          -
          The position conversion factor.
          -
          • -
        +
        void
        +
        setInverted(boolean inverted)
        +
        +
        Set the motor to be inverted.
        +
        +
        void
        +
        setLoopRampRate(double rampRate)
        +
        +
        Set the maximum rate the open/closed loop output can change by.
        +
        +
        void
        +
        setMotorBrake(boolean isBrakeMode)
        +
        +
        Set the idle mode.
        +
        +
        void
        +
        setPosition(double position)
        +
        +
        Set the integrated encoder position.
        +
        +
        void
        +
        setReference(double setpoint, + double feedforward)
        +
        +
        Set the closed loop PID controller reference point.
        +
        +
        void
        +
        setVoltageCompensation(double nominalVoltage)
        +
        +
        Set the voltage compensation for the swerve module motor.
        +
        +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    + +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        motor

        +
        com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor
        +
        TalonFX motor controller.
        +
        +
        • +
      • +
        +

        factoryDefaultOccurred

        +
        private final boolean factoryDefaultOccurred
        +
        Factory default already occurred.
        +
        +
        See Also:
        +
        + +
        +
        +
        +
        • +
      • +
        +

        absoluteEncoder

        +
        private boolean absoluteEncoder
        +
        Whether the absolute encoder is integrated.
        +
        +
        • +
      • +
        +

        positionConversionFactor

        +
        private double positionConversionFactor
        +
        The position conversion factor.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          TalonFXSwerve

          -
          public TalonFXSwerve​(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor,
-                     boolean isDriveMotor)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            TalonFXSwerve

            +
            public TalonFXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX motor, + boolean isDriveMotor)
            Constructor for TalonFX swerve motor.
            -
            -
            Parameters:
            +
            +
            Parameters:
            motor - Motor to use.
            isDriveMotor - Whether this motor is a drive motor.
            +
            • -
          - - - -
            -
          • -

            TalonFXSwerve

            -
            public TalonFXSwerve​(int id,
-                     String canbus,
-                     boolean isDriveMotor)
            +
          • +
            +

            TalonFXSwerve

            +
            public TalonFXSwerve(int id, + String canbus, + boolean isDriveMotor)
            Construct the TalonFX swerve motor given the ID and CANBus.
            -
            -
            Parameters:
            +
            +
            Parameters:
            id - ID of the TalonFX on the CANBus.
            canbus - CANBus on which the TalonFX is on.
            isDriveMotor - Whether the motor is a drive or steering motor.
            +
            • -
          - - - -
            -
          • -

            TalonFXSwerve

            -
            public TalonFXSwerve​(int id,
-                     boolean isDriveMotor)
            +
          • +
            +

            TalonFXSwerve

            +
            public TalonFXSwerve(int id, + boolean isDriveMotor)
            Construct the TalonFX swerve motor given the ID.
            -
            -
            Parameters:
            +
            +
            Parameters:
            id - ID of the TalonFX on the canbus.
            isDriveMotor - Whether the motor is a drive or steering motor.
            -
            • -
          +
      + -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          factoryDefaults

          -
          public void factoryDefaults()
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            factoryDefaults

            +
            public void factoryDefaults()
            Configure the factory defaults.
            -
            -
            Specified by:
            +
            +
            Specified by:
            factoryDefaults in class SwerveMotor
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public void clearStickyFaults()
            Clear the sticky faults on the motor controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            clearStickyFaults in class SwerveMotor
            +
            • -
          - - - - - - - -
            -
          • -

            configureIntegratedEncoder

            -
            public void configureIntegratedEncoder​(double positionConversionFactor)
            +
          • +
            +

            configureIntegratedEncoder

            +
            public void configureIntegratedEncoder(double positionConversionFactor)
            Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configureIntegratedEncoder in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            positionConversionFactor - The conversion factor to apply for position.
            +
            • -
          - - - -
            -
          • -

            configurePIDF

            -
            public void configurePIDF​(PIDFConfig config)
            +
          • +
            +

            configurePIDF

            +
            public void configurePIDF(PIDFConfig config)
            Configure the PIDF values for the closed loop controller. 0 is disabled or off.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configurePIDF in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            config - Configuration class holding the PIDF values.
            +
            • -
          - - - -
            -
          • -

            configurePIDWrapping

            -
            public void configurePIDWrapping​(double minInput,
-                                 double maxInput)
            +
          • +
            +

            configurePIDWrapping

            +
            public void configurePIDWrapping(double minInput, + double maxInput)
            Configure the PID wrapping for the position closed loop controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configurePIDWrapping in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            minInput - Minimum PID input.
            maxInput - Maximum PID input.
            +
            • -
          - - - -
            -
          • -

            setMotorBrake

            -
            public void setMotorBrake​(boolean isBrakeMode)
            +
          • +
            +

            setMotorBrake

            +
            public void setMotorBrake(boolean isBrakeMode)
            Set the idle mode.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setMotorBrake in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            isBrakeMode - Set the brake mode.
            +
            • -
          - - - -
            -
          • -

            setInverted

            -
            public void setInverted​(boolean inverted)
            +
          • +
            +

            setInverted

            +
            public void setInverted(boolean inverted)
            Set the motor to be inverted.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setInverted in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            inverted - State of inversion.
            +
            • -
          - - - -
            -
          • -

            burnFlash

            -
            public void burnFlash()
            +
          • +
            +

            burnFlash

            +
            public void burnFlash()
            Save the configurations from flash to EEPROM.
            -
            -
            Specified by:
            +
            +
            Specified by:
            burnFlash in class SwerveMotor
            +
            • -
          - - - -
            -
          • -

            set

            -
            public void set​(double percentOutput)
            +
          • +
            +

            set

            +
            public void set(double percentOutput)
            Set the percentage output.
            -
            -
            Specified by:
            +
            +
            Specified by:
            set in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            percentOutput - percent out for the motor controller.
            +
            • -
          - - - -
            -
          • -

            setReference

            -
            public void setReference​(double setpoint,
-                         double feedforward)
            +
          • +
            +

            setReference

            +
            public void setReference(double setpoint, + double feedforward)
            Set the closed loop PID controller reference point.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setReference in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            setpoint - Setpoint in MPS or Angle in degrees.
            feedforward - Feedforward in volt-meter-per-second or kV.
            +
            • -
          - - - -
            -
          • -

            getVelocity

            -
            public double getVelocity()
            +
          • +
            +

            getVelocity

            +
            public double getVelocity()
            Get the velocity of the integrated encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getVelocity in class SwerveMotor
            -
            Returns:
            +
            Returns:
            velocity
            +
            • -
          - - - -
            -
          • -

            getPosition

            -
            public double getPosition()
            +
          • +
            +

            getPosition

            +
            public double getPosition()
            Get the position of the integrated encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getPosition in class SwerveMotor
            -
            Returns:
            +
            Returns:
            Position
            +
            • -
          - - - -
            -
          • -

            setPosition

            -
            public void setPosition​(double position)
            +
          • +
            +

            setPosition

            +
            public void setPosition(double position)
            Set the integrated encoder position.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setPosition in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            position - Integrated encoder position. Should be angle in degrees or meters per second.
            +
            • -
          - - - -
            -
          • -

            setVoltageCompensation

            -
            public void setVoltageCompensation​(double nominalVoltage)
            +
          • +
            +

            setVoltageCompensation

            +
            public void setVoltageCompensation(double nominalVoltage)
            Set the voltage compensation for the swerve module motor.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setVoltageCompensation in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            nominalVoltage - Nominal voltage for operation to output to.
            +
            • -
          - - - -
            -
          • -

            setCurrentLimit

            -
            public void setCurrentLimit​(int currentLimit)
            +
          • +
            +

            setCurrentLimit

            +
            public void setCurrentLimit(int currentLimit)
            Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation. This is useful to protect the motor from current spikes.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setCurrentLimit in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            currentLimit - Current limit in AMPS at free speed.
            +
            • -
          - - - -
            -
          • -

            setLoopRampRate

            -
            public void setLoopRampRate​(double rampRate)
            +
          • +
            +

            setLoopRampRate

            +
            public void setLoopRampRate(double rampRate)
            Set the maximum rate the open/closed loop output can change by.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setLoopRampRate in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            rampRate - Time in seconds to go from 0 to full throttle.
            +
            • -
          - - - -
            -
          • -

            getMotor

            -
            public Object getMotor()
            +
          • +
            +

            getMotor

            +
            public Object getMotor()
            Get the motor object from the module.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getMotor in class SwerveMotor
            -
            Returns:
            +
            Returns:
            Motor object.
            +
            • -
          - - - -
            -
          • -

            isAttachedAbsoluteEncoder

            -
            public boolean isAttachedAbsoluteEncoder()
            +
          • +
            +

            isAttachedAbsoluteEncoder

            +
            public boolean isAttachedAbsoluteEncoder()
            Queries whether the absolute encoder is directly attached to the motor controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            isAttachedAbsoluteEncoder in class SwerveMotor
            -
            Returns:
            +
            Returns:
            connected absolute encoder state.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html index 3741af5..2620809 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html +++ b/docs/swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html @@ -1,450 +1,279 @@ - - + TalonSRXSwerve.CTRE_pidIdx + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.motors
    -

    Enum TalonSRXSwerve.CTRE_pidIdx

    +
    Package swervelib.motors
    +

    Enum Class TalonSRXSwerve.CTRE_pidIdx

    -
    - -
    -
    -
    -
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Enum

    +clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
    +
    +

    Methods inherited from class java.lang.Object

    +getClass, notify, notifyAll, wait, wait, wait
    -
    -
    -
      -
    • + +
      +
        -
        -
        + -
        -
          -
        • - - -

          Constructor Detail

          - - - -
            -
          • -

            CTRE_pidIdx

            -
            private CTRE_pidIdx()
            -
            • -
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            CTRE_pidIdx

            +
            private CTRE_pidIdx()
            +
          +
          • -
          -
            -
          • - - -

            Method Detail

            - - - -
              -
            • -

              values

              -
              public static TalonSRXSwerve.CTRE_pidIdx[] values()
              -
              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: -
              -for (TalonSRXSwerve.CTRE_pidIdx c : TalonSRXSwerve.CTRE_pidIdx.values())
-    System.out.println(c);
-
              -
              -
              Returns:
              -
              an array containing the constants of this enum type, in the order they are declared
              +
            • +
              +

              Method Details

              +
                +
              • +
                +

                values

                +
                public static TalonSRXSwerve.CTRE_pidIdx[] values()
                +
                Returns an array containing the constants of this enum class, in +the order they are declared.
                +
                +
                Returns:
                +
                an array containing the constants of this enum class, in the order they are declared
                +
                • -
              - - - -
                -
              • -

                valueOf

                -
                public static TalonSRXSwerve.CTRE_pidIdx valueOf​(String name)
                -
                Returns the enum constant of this type with the specified name. +
              • +
                +

                valueOf

                +
                public static TalonSRXSwerve.CTRE_pidIdx valueOf(String name)
                +
                Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an -enum constant in this type. (Extraneous whitespace characters are +enum constant in this class. (Extraneous whitespace characters are not permitted.)
                -
                -
                Parameters:
                +
                +
                Parameters:
                name - the name of the enum constant to be returned.
                -
                Returns:
                +
                Returns:
                the enum constant with the specified name
                -
                Throws:
                -
                IllegalArgumentException - if this enum type has no constant with the specified name
                -
                NullPointerException - if the argument is null
                +
                Throws:
                +
                IllegalArgumentException - if this enum class has no constant with the specified name
                +
                NullPointerException - if the argument is null
                -
                • -
              +
        -
    -
    - + - diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html index 34d4bb1..38c7904 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html +++ b/docs/swervelib/motors/TalonSRXSwerve.CTRE_remoteSensor.html @@ -1,424 +1,257 @@ - - + TalonSRXSwerve.CTRE_remoteSensor + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.motors
    -

    Enum TalonSRXSwerve.CTRE_remoteSensor

    +
    Package swervelib.motors
    +

    Enum Class TalonSRXSwerve.CTRE_remoteSensor

    -
    - -
    -
    -
    -
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Enum

    +clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
    +
    +

    Methods inherited from class java.lang.Object

    +getClass, notify, notifyAll, wait, wait, wait
    -
    -
    -
      -
    • + +
      +
        -
        -
        + -
        -
          -
        • - - -

          Constructor Detail

          - - - -
            -
          • -

            CTRE_remoteSensor

            -
            private CTRE_remoteSensor()
            -
            • -
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            CTRE_remoteSensor

            +
            private CTRE_remoteSensor()
            +
          +
          • -
          -
            -
          • - - -

            Method Detail

            - - - -
              -
            • -

              values

              -
              public static TalonSRXSwerve.CTRE_remoteSensor[] values()
              -
              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: -
              -for (TalonSRXSwerve.CTRE_remoteSensor c : TalonSRXSwerve.CTRE_remoteSensor.values())
-    System.out.println(c);
-
              -
              -
              Returns:
              -
              an array containing the constants of this enum type, in the order they are declared
              +
            • +
              +

              Method Details

              +
                +
              • +
                +

                values

                +
                public static TalonSRXSwerve.CTRE_remoteSensor[] values()
                +
                Returns an array containing the constants of this enum class, in +the order they are declared.
                +
                +
                Returns:
                +
                an array containing the constants of this enum class, in the order they are declared
                +
                • -
              - - - -
                -
              • -

                valueOf

                -
                public static TalonSRXSwerve.CTRE_remoteSensor valueOf​(String name)
                -
                Returns the enum constant of this type with the specified name. +
              • +
                +

                valueOf

                +
                public static TalonSRXSwerve.CTRE_remoteSensor valueOf(String name)
                +
                Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an -enum constant in this type. (Extraneous whitespace characters are +enum constant in this class. (Extraneous whitespace characters are not permitted.)
                -
                -
                Parameters:
                +
                +
                Parameters:
                name - the name of the enum constant to be returned.
                -
                Returns:
                +
                Returns:
                the enum constant with the specified name
                -
                Throws:
                -
                IllegalArgumentException - if this enum type has no constant with the specified name
                -
                NullPointerException - if the argument is null
                +
                Throws:
                +
                IllegalArgumentException - if this enum class has no constant with the specified name
                +
                NullPointerException - if the argument is null
                -
                • -
              +
        -
    -
    - + - diff --git a/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html b/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html index bd0df16..21dd08a 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html +++ b/docs/swervelib/motors/TalonSRXSwerve.CTRE_slotIdx.html @@ -1,450 +1,279 @@ - - + TalonSRXSwerve.CTRE_slotIdx + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.motors
    -

    Enum TalonSRXSwerve.CTRE_slotIdx

    +
    Package swervelib.motors
    +

    Enum Class TalonSRXSwerve.CTRE_slotIdx

    -
    - -
    -
    -
    -
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Enum

    +clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
    +
    +

    Methods inherited from class java.lang.Object

    +getClass, notify, notifyAll, wait, wait, wait
    -
    -
    -
      -
    • + +
      +
        -
        -
        + -
        -
          -
        • - - -

          Constructor Detail

          - - - -
            -
          • -

            CTRE_slotIdx

            -
            private CTRE_slotIdx()
            -
            • -
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            CTRE_slotIdx

            +
            private CTRE_slotIdx()
            +
          +
          • -
          -
            -
          • - - -

            Method Detail

            - - - -
              -
            • -

              values

              -
              public static TalonSRXSwerve.CTRE_slotIdx[] values()
              -
              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: -
              -for (TalonSRXSwerve.CTRE_slotIdx c : TalonSRXSwerve.CTRE_slotIdx.values())
-    System.out.println(c);
-
              -
              -
              Returns:
              -
              an array containing the constants of this enum type, in the order they are declared
              +
            • +
              +

              Method Details

              +
                +
              • +
                +

                values

                +
                public static TalonSRXSwerve.CTRE_slotIdx[] values()
                +
                Returns an array containing the constants of this enum class, in +the order they are declared.
                +
                +
                Returns:
                +
                an array containing the constants of this enum class, in the order they are declared
                +
                • -
              - - - -
                -
              • -

                valueOf

                -
                public static TalonSRXSwerve.CTRE_slotIdx valueOf​(String name)
                -
                Returns the enum constant of this type with the specified name. +
              • +
                +

                valueOf

                +
                public static TalonSRXSwerve.CTRE_slotIdx valueOf(String name)
                +
                Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an -enum constant in this type. (Extraneous whitespace characters are +enum constant in this class. (Extraneous whitespace characters are not permitted.)
                -
                -
                Parameters:
                +
                +
                Parameters:
                name - the name of the enum constant to be returned.
                -
                Returns:
                +
                Returns:
                the enum constant with the specified name
                -
                Throws:
                -
                IllegalArgumentException - if this enum type has no constant with the specified name
                -
                NullPointerException - if the argument is null
                +
                Throws:
                +
                IllegalArgumentException - if this enum class has no constant with the specified name
                +
                NullPointerException - if the argument is null
                -
                • -
              +
        -
    -
    - + - diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index 25896ae..ca52652 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,915 +1,632 @@ - - + TalonSRXSwerve + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.motors
    -

    Class TalonSRXSwerve

    +
    Package swervelib.motors
    +

    Class TalonSRXSwerve

    -
    - -
    - -
    -
    -
    +
    + -
    - +
    +
    +
    +

    Fields inherited from class swervelib.motors.SwerveMotor

    +isDriveMotor
    + -
    -
      -
    • - - -

      Constructor Summary

      - - - - - - - - - - - - - - -
      Constructors 
      ConstructorDescription
      TalonSRXSwerve​(int id, - boolean isDriveMotor) +
    • +
      +

      Constructor Summary

      +
      Constructors
      +
      +
      Constructor
      +
      Description
      +
      TalonSRXSwerve(int id, + boolean isDriveMotor)
      +
      Construct the TalonSRX swerve motor given the ID.
      -
      • TalonSRXSwerve​(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor, - boolean isDriveMotor) + +
      TalonSRXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor, + boolean isDriveMotor)
      +
      Constructor for TalonSRX swerve motor.
      -
      -
      • -
    +
    +
    + -
    - -
    - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          factoryDefaultOccurred

          -
          private final boolean factoryDefaultOccurred
          -
          Factory default already occurred.
          -
          -
          See Also:
          -
          Constant Field Values
          -
          -
          • -
        - - - -
          -
        • -

          motor

          -
          com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor
          -
          TalonSRX motor controller.
          -
          • -
        - - - -
          -
        • -

          absoluteEncoder

          -
          private boolean absoluteEncoder
          -
          Whether the absolute encoder is integrated.
          -
          • -
        - - - -
          -
        • -

          positionConversionFactor

          -
          private double positionConversionFactor
          -
          The position conversion factor.
          -
          • -
        +
        void
        +
        setInverted(boolean inverted)
        +
        +
        Set the motor to be inverted.
        +
        +
        void
        +
        setLoopRampRate(double rampRate)
        +
        +
        Set the maximum rate the open/closed loop output can change by.
        +
        +
        void
        +
        setMotorBrake(boolean isBrakeMode)
        +
        +
        Set the idle mode.
        +
        +
        void
        +
        setPosition(double position)
        +
        +
        Set the integrated encoder position.
        +
        +
        void
        +
        setReference(double setpoint, + double feedforward)
        +
        +
        Set the closed loop PID controller reference point.
        +
        +
        void
        +
        setVoltageCompensation(double nominalVoltage)
        +
        +
        Set the voltage compensation for the swerve module motor.
        +
        +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    + +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        factoryDefaultOccurred

        +
        private final boolean factoryDefaultOccurred
        +
        Factory default already occurred.
        +
        +
        See Also:
        +
        + +
        +
        +
        +
        • +
      • +
        +

        motor

        +
        com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor
        +
        TalonSRX motor controller.
        +
        +
        • +
      • +
        +

        absoluteEncoder

        +
        private boolean absoluteEncoder
        +
        Whether the absolute encoder is integrated.
        +
        +
        • +
      • +
        +

        positionConversionFactor

        +
        private double positionConversionFactor
        +
        The position conversion factor.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          TalonSRXSwerve

          -
          public TalonSRXSwerve​(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor,
-                      boolean isDriveMotor)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            TalonSRXSwerve

            +
            public TalonSRXSwerve(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX motor, + boolean isDriveMotor)
            Constructor for TalonSRX swerve motor.
            -
            -
            Parameters:
            +
            +
            Parameters:
            motor - Motor to use.
            isDriveMotor - Whether this motor is a drive motor.
            +
            • -
          - - - -
            -
          • -

            TalonSRXSwerve

            -
            public TalonSRXSwerve​(int id,
-                      boolean isDriveMotor)
            +
          • +
            +

            TalonSRXSwerve

            +
            public TalonSRXSwerve(int id, + boolean isDriveMotor)
            Construct the TalonSRX swerve motor given the ID.
            -
            -
            Parameters:
            +
            +
            Parameters:
            id - ID of the TalonSRX on the canbus.
            isDriveMotor - Whether the motor is a drive or steering motor.
            -
            • -
          +
      + -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          factoryDefaults

          -
          public void factoryDefaults()
          +
        • +
          +

          Method Details

          +
            +
          • +
            +

            factoryDefaults

            +
            public void factoryDefaults()
            Configure the factory defaults.
            -
            -
            Specified by:
            +
            +
            Specified by:
            factoryDefaults in class SwerveMotor
            +
            • -
          - - - -
            -
          • -

            clearStickyFaults

            -
            public void clearStickyFaults()
            +
          • +
            +

            clearStickyFaults

            +
            public void clearStickyFaults()
            Clear the sticky faults on the motor controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            clearStickyFaults in class SwerveMotor
            +
            • -
          - - - - - - - -
            -
          • -

            configureIntegratedEncoder

            -
            public void configureIntegratedEncoder​(double positionConversionFactor)
            +
          • +
            +

            configureIntegratedEncoder

            +
            public void configureIntegratedEncoder(double positionConversionFactor)
            Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configureIntegratedEncoder in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            positionConversionFactor - The conversion factor to apply for position.
            +
            • -
          - - - -
            -
          • -

            configurePIDF

            -
            public void configurePIDF​(PIDFConfig config)
            +
          • +
            +

            configurePIDF

            +
            public void configurePIDF(PIDFConfig config)
            Configure the PIDF values for the closed loop controller. 0 is disabled or off.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configurePIDF in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            config - Configuration class holding the PIDF values.
            +
            • -
          - - - -
            -
          • -

            configurePIDWrapping

            -
            public void configurePIDWrapping​(double minInput,
-                                 double maxInput)
            +
          • +
            +

            configurePIDWrapping

            +
            public void configurePIDWrapping(double minInput, + double maxInput)
            Configure the PID wrapping for the position closed loop controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            configurePIDWrapping in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            minInput - Minimum PID input.
            maxInput - Maximum PID input.
            +
            • -
          - - - -
            -
          • -

            setMotorBrake

            -
            public void setMotorBrake​(boolean isBrakeMode)
            +
          • +
            +

            setMotorBrake

            +
            public void setMotorBrake(boolean isBrakeMode)
            Set the idle mode.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setMotorBrake in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            isBrakeMode - Set the brake mode.
            +
            • -
          - - - -
            -
          • -

            setInverted

            -
            public void setInverted​(boolean inverted)
            +
          • +
            +

            setInverted

            +
            public void setInverted(boolean inverted)
            Set the motor to be inverted.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setInverted in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            inverted - State of inversion.
            +
            • -
          - - - -
            -
          • -

            burnFlash

            -
            public void burnFlash()
            +
          • +
            +

            burnFlash

            +
            public void burnFlash()
            Save the configurations from flash to EEPROM.
            -
            -
            Specified by:
            +
            +
            Specified by:
            burnFlash in class SwerveMotor
            +
            • -
          - - - -
            -
          • -

            set

            -
            public void set​(double percentOutput)
            +
          • +
            +

            set

            +
            public void set(double percentOutput)
            Set the percentage output.
            -
            -
            Specified by:
            +
            +
            Specified by:
            set in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            percentOutput - percent out for the motor controller.
            +
            • -
          - - - -
            -
          • -

            setReference

            -
            public void setReference​(double setpoint,
-                         double feedforward)
            +
          • +
            +

            setReference

            +
            public void setReference(double setpoint, + double feedforward)
            Set the closed loop PID controller reference point.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setReference in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            setpoint - Setpoint in MPS or Angle in degrees.
            feedforward - Feedforward in volt-meter-per-second or kV.
            +
            • -
          - - - -
            -
          • -

            getVelocity

            -
            public double getVelocity()
            +
          • +
            +

            getVelocity

            +
            public double getVelocity()
            Get the velocity of the integrated encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getVelocity in class SwerveMotor
            -
            Returns:
            +
            Returns:
            velocity
            +
            • -
          - - - -
            -
          • -

            getPosition

            -
            public double getPosition()
            +
          • +
            +

            getPosition

            +
            public double getPosition()
            Get the position of the integrated encoder.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getPosition in class SwerveMotor
            -
            Returns:
            +
            Returns:
            Position
            +
            • -
          - - - -
            -
          • -

            setPosition

            -
            public void setPosition​(double position)
            +
          • +
            +

            setPosition

            +
            public void setPosition(double position)
            Set the integrated encoder position.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setPosition in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            position - Integrated encoder position. Should be angle in degrees or meters per second.
            +
            • -
          - - - -
            -
          • -

            setVoltageCompensation

            -
            public void setVoltageCompensation​(double nominalVoltage)
            +
          • +
            +

            setVoltageCompensation

            +
            public void setVoltageCompensation(double nominalVoltage)
            Set the voltage compensation for the swerve module motor.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setVoltageCompensation in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            nominalVoltage - Nominal voltage for operation to output to.
            +
            • -
          - - - -
            -
          • -

            setCurrentLimit

            -
            public void setCurrentLimit​(int currentLimit)
            +
          • +
            +

            setCurrentLimit

            +
            public void setCurrentLimit(int currentLimit)
            Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation. This is useful to protect the motor from current spikes.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setCurrentLimit in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            currentLimit - Current limit in AMPS at free speed.
            +
            • -
          - - - -
            -
          • -

            setLoopRampRate

            -
            public void setLoopRampRate​(double rampRate)
            +
          • +
            +

            setLoopRampRate

            +
            public void setLoopRampRate(double rampRate)
            Set the maximum rate the open/closed loop output can change by.
            -
            -
            Specified by:
            +
            +
            Specified by:
            setLoopRampRate in class SwerveMotor
            -
            Parameters:
            +
            Parameters:
            rampRate - Time in seconds to go from 0 to full throttle.
            +
            • -
          - - - -
            -
          • -

            getMotor

            -
            public Object getMotor()
            +
          • +
            +

            getMotor

            +
            public Object getMotor()
            Get the motor object from the module.
            -
            -
            Specified by:
            +
            +
            Specified by:
            getMotor in class SwerveMotor
            -
            Returns:
            +
            Returns:
            Motor object.
            +
            • -
          - - - -
            -
          • -

            isAttachedAbsoluteEncoder

            -
            public boolean isAttachedAbsoluteEncoder()
            +
          • +
            +

            isAttachedAbsoluteEncoder

            +
            public boolean isAttachedAbsoluteEncoder()
            Queries whether the absolute encoder is directly attached to the motor controller.
            -
            -
            Specified by:
            +
            +
            Specified by:
            isAttachedAbsoluteEncoder in class SwerveMotor
            -
            Returns:
            +
            Returns:
            connected absolute encoder state.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index 73832c2..bc04965 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,220 +1,137 @@ - - + swervelib.motors + - + + + - + - - - - - + + - - -
    +
    + +
    -

    Package swervelib.motors

    +

    Package swervelib.motors

    -
    -
    +
    +
    +
    -
    + -
    - -
    diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index 3b835d0..c657952 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,185 +1,94 @@ - - + swervelib.motors Class Hierarchy + - + + + - + - - - - - + + - - -
    +
    + +

    Hierarchy For Package swervelib.motors

    -Package Hierarchies: +Package Hierarchies:
    -
    -
    +

    Class Hierarchy

    -
    -

    Enum Hierarchy

    +
    +

    Enum Class Hierarchy

    -
    - diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index dadb015..60e010d 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,179 +1,111 @@ - - + swervelib + - + + + - + - - - - - + + - - -
    +
    + +
    -

    Package swervelib

    +

    Package swervelib

    -
    -
    +
    +
    -
    + -
    - -
    diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index eae96fc..e3a229a 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,164 +1,73 @@ - - + swervelib Class Hierarchy + - + + + - + - - - - - + + - - -
    +
    + +

    Hierarchy For Package swervelib

    -Package Hierarchies: +Package Hierarchies:
    -
    -
    +

    Class Hierarchy

    -
    - diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index 46c76c0..21d7dd5 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,556 +1,351 @@ - - + PIDFConfig + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser
    -

    Class PIDFConfig

    +
    Package swervelib.parser
    +

    Class PIDFConfig

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.PIDFConfig
      +
      +
      -
      public class PIDFConfig
-extends Object
      +
      public class PIDFConfig +extends Object
      Hold the PIDF and Integral Zone values for a PID.
      -
      • -
    -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          doubled +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          double
          +
          d
          +
          Derivative Gain for PID.
          -
          • doublef -
          Feedforward value for PID.
          -
          doublei -
          Integral Gain for PID.
          -
          doubleiz -
          Integral zone of the PID.
          -
          PIDFRangeoutput -
          The PIDF output range.
          -
          doublep -
          Proportional Gain for PID.
          -
          -
          • -
        -
        - -
        -
          -
        • - - -

          Constructor Summary

          - - - - - - - - - - - - - - - - - - - - - - - - - - -
          Constructors 
          ConstructorDescription
          PIDFConfig() -
          Used when parsing PIDF values from JSON.
          -
          PIDFConfig​(double p, - double d) -
          PIDF Config constructor to contain the values.
          -
          PIDFConfig​(double p, - double i, - double d) -
          PIDF Config constructor to contain the values.
          -
          PIDFConfig​(double p, - double i, - double d, - double f) -
          PIDF Config constructor to contain the values.
          -
          PIDFConfig​(double p, - double i, - double d, - double f, - double iz) -
          PIDF Config constructor to contain the values.
          -
          -
          • -
        -
        - -
        - -
        - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          p

          -
          public double p
          -
          Proportional Gain for PID.
          -
          • -
        - - - -
          -
        • -

          i

          -
          public double i
          -
          Integral Gain for PID.
          -
          • -
        - - - -
          -
        • -

          d

          -
          public double d
          -
          Derivative Gain for PID.
          -
          • -
        - - - -
          -
        • -

          f

          -
          public double f
          +
          double
          +
          f
          +
          Feedforward value for PID.
          -
          • -
        - - - -
          -
        • -

          iz

          -
          public double iz
          +
    +
    double
    +
    i
    +
    +
    Integral Gain for PID.
    +
    +
    double
    +
    iz
    +
    Integral zone of the PID.
    - - - - - -
    +
    PIDFRange
    +
    output
    +
    The PIDF output range.
    +
    +
    double
    +
    p
    +
    +
    Proportional Gain for PID.
    +
    +
    + - + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    PIDFConfig()
    +
    +
    Used when parsing PIDF values from JSON.
    +
    +
    PIDFConfig(double p, + double d)
    +
    +
    PIDF Config constructor to contain the values.
    +
    +
    PIDFConfig(double p, + double i, + double d)
    +
    +
    PIDF Config constructor to contain the values.
    +
    +
    PIDFConfig(double p, + double i, + double d, + double f)
    +
    +
    PIDF Config constructor to contain the values.
    +
    +
    PIDFConfig(double p, + double i, + double d, + double f, + double iz)
    +
    +
    PIDF Config constructor to contain the values.
    +
    +
    +
    +
    • + +
  • +
    +

    Method Summary

    +
    +
    +
    +
    +
    Modifier and Type
    +
    Method
    +
    Description
    +
    edu.wpi.first.math.controller.PIDController
    +
    createPIDController()
    +
    +
    Create a PIDController from the PID values.
    +
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • - -
    -
      -
    • - - -

      Constructor Detail

      - - - -
        -
      • -

        PIDFConfig

        -
        public PIDFConfig()
        -
        Used when parsing PIDF values from JSON.
        +
        +
          + +
        • +
          +

          Field Details

          +
            +
          • +
            +

            p

            +
            public double p
            +
            Proportional Gain for PID.
            +
            +
            • +
          • +
            +

            i

            +
            public double i
            +
            Integral Gain for PID.
            +
            +
            • +
          • +
            +

            d

            +
            public double d
            +
            Derivative Gain for PID.
            +
            +
            • +
          • +
            +

            f

            +
            public double f
            +
            Feedforward value for PID.
            +
            +
            • +
          • +
            +

            iz

            +
            public double iz
            +
            Integral zone of the PID.
            +
            +
            • +
          • +
            +

            output

            +
            public PIDFRange output
            +
            The PIDF output range.
            +
          - - - -
            -
          • -

            PIDFConfig

            -
            public PIDFConfig​(double p,
-                  double i,
-                  double d,
-                  double f,
-                  double iz)
            +
          +
          • + +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            PIDFConfig

            +
            public PIDFConfig()
            +
            Used when parsing PIDF values from JSON.
            +
            +
            • +
          • +
            +

            PIDFConfig

            +
            public PIDFConfig(double p, + double i, + double d, + double f, + double iz)
            PIDF Config constructor to contain the values.
            -
            -
            Parameters:
            +
            +
            Parameters:
            p - P gain.
            i - I gain.
            d - D gain.
            f - F gain.
            iz - Intergral zone.
            +
            • -
          - - - -
            -
          • -

            PIDFConfig

            -
            public PIDFConfig​(double p,
-                  double i,
-                  double d,
-                  double f)
            +
          • +
            +

            PIDFConfig

            +
            public PIDFConfig(double p, + double i, + double d, + double f)
            PIDF Config constructor to contain the values.
            -
            -
            Parameters:
            +
            +
            Parameters:
            p - P gain.
            i - I gain.
            d - D gain.
            f - F gain.
            +
            • -
          - - - -
            -
          • -

            PIDFConfig

            -
            public PIDFConfig​(double p,
-                  double i,
-                  double d)
            +
          • +
            +

            PIDFConfig

            +
            public PIDFConfig(double p, + double i, + double d)
            PIDF Config constructor to contain the values.
            -
            -
            Parameters:
            +
            +
            Parameters:
            p - P gain.
            i - I gain.
            d - D gain.
            +
            • -
          - - - -
            -
          • -

            PIDFConfig

            -
            public PIDFConfig​(double p,
-                  double d)
            +
          • +
            +

            PIDFConfig

            +
            public PIDFConfig(double p, + double d)
            PIDF Config constructor to contain the values.
            -
            -
            Parameters:
            +
            +
            Parameters:
            p - P gain.
            d - D gain.
            -
            • -
          +
        +
        • -
        -
          -
        • - - -

          Method Detail

          - - - -
            -
          • -

            createPIDController

            -
            public edu.wpi.first.math.controller.PIDController createPIDController()
            +
          • +
            +

            Method Details

            +
              +
            • +
              +

              createPIDController

              +
              public edu.wpi.first.math.controller.PIDController createPIDController()
              Create a PIDController from the PID values.
              -
              -
              Returns:
              +
              +
              Returns:
              PIDController.
              -
              • -
            +
      -
    -
    - + - diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 2bcdbcc..751e66d 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,401 +1,228 @@ - - + SwerveControllerConfiguration + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser
    -

    Class SwerveControllerConfiguration

    +
    Package swervelib.parser
    +

    Class SwerveControllerConfiguration

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.SwerveControllerConfiguration
      +
      +
      -
      public class SwerveControllerConfiguration
-extends Object
      +
      public class SwerveControllerConfiguration +extends Object
      Swerve Controller configuration class which is used to configure SwerveController.
      -
      • -
    -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          maxSpeed

          -
          public final double maxSpeed
          -
          Maximum robot speed in meters per second.
          -
          • -
        - - - -
          -
        • -

          maxAngularVelocity

          -
          public final double maxAngularVelocity
          -
          Maximum angular velocity in rad/s
          -
          • -
        - - - -
    + - - - - - + +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        maxSpeed

        +
        public final double maxSpeed
        +
        Maximum robot speed in meters per second.
        +
        +
        • +
      • +
        +

        maxAngularVelocity

        +
        public final double maxAngularVelocity
        +
        Maximum angular velocity in rad/s
        +
        +
        • +
      • +
        +

        headingPIDF

        +
        public final PIDFConfig headingPIDF
        +
        PIDF for the heading of the robot.
        +
        +
        • +
      • +
        +

        angleJoyStickRadiusDeadband

        +
        public final double angleJoyStickRadiusDeadband
        +
        hypotenuse deadband for the robot angle control joystick.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SwerveControllerConfiguration

          -
          public SwerveControllerConfiguration​(SwerveDriveConfiguration driveCfg,
-                                     PIDFConfig headingPIDF,
-                                     double angleJoyStickRadiusDeadband)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SwerveControllerConfiguration

            +
            public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, + PIDFConfig headingPIDF, + double angleJoyStickRadiusDeadband)
            Construct the swerve controller configuration.
            -
            -
            Parameters:
            +
            +
            Parameters:
            driveCfg - Drive configuration.
            headingPIDF - Heading PIDF configuration.
            angleJoyStickRadiusDeadband - Deadband on radius of angle joystick.
            +
            • -
          - - - -
            -
          • -

            SwerveControllerConfiguration

            -
            public SwerveControllerConfiguration​(SwerveDriveConfiguration driveCfg,
-                                     PIDFConfig headingPIDF)
            +
          • +
            +

            SwerveControllerConfiguration

            +
            public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, + PIDFConfig headingPIDF)
            Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be set on angle joystick is .5 of the controller).
            -
            -
            Parameters:
            +
            +
            Parameters:
            driveCfg - Drive configuration.
            headingPIDF - Heading PIDF configuration.
            -
            • -
          +
    -
    -
    - + - diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index 5ed6280..b3af8c3 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,461 +1,276 @@ - - + SwerveDriveConfiguration + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser
    -

    Class SwerveDriveConfiguration

    +
    Package swervelib.parser
    +

    Class SwerveDriveConfiguration

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.SwerveDriveConfiguration
      +
      +
      -
      public class SwerveDriveConfiguration
-extends Object
      +
      public class SwerveDriveConfiguration +extends Object
      Swerve drive configurations used during SwerveDrive construction.
      -
      • -
    -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          moduleLocationsMeters

          -
          public edu.wpi.first.math.geometry.Translation2d[] moduleLocationsMeters
          -
          Swerve Module locations.
          -
          • -
        - - - -
          -
        • -

          imu

          -
          public SwerveIMU imu
          -
          Swerve IMU
          -
          • -
        - - - -
          -
        • -

          invertedIMU

          -
          public boolean invertedIMU
          +
          boolean
          +
          invertedIMU
          +
          Invert the imu measurements.
          -
          • -
        - - - -
          -
        • -

          maxSpeed

          -
          public double maxSpeed
          +
    +
    double
    +
    maxSpeed
    +
    Max speed in meters per second.
    - - - - - -
      -
    • -

      moduleCount

      -
      public int moduleCount
      +
    +
    int
    +
    moduleCount
    +
    Number of modules on the robot.
    - - - - - -
    +
    edu.wpi.first.math.geometry.Translation2d[]
    +
    moduleLocationsMeters
    +
    +
    Swerve Module locations.
    +
    +
    SwerveModule[]
    +
    modules
    +
    Swerve Modules.
    +
    +
    + - + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, + SwerveIMU swerveIMU, + double maxSpeed, + boolean invertedIMU)
    +
    +
    Create swerve drive configuration.
    +
    +
    +
    +
    • + +
  • +
    +

    Method Summary

    +
    +
    +
    +
    +
    Modifier and Type
    +
    Method
    +
    Description
    +
    SwerveModule[]
    +
    createModules(SwerveModuleConfiguration[] swerves)
    +
    +
    Create modules based off of the SwerveModuleConfiguration.
    +
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        moduleLocationsMeters

        +
        public edu.wpi.first.math.geometry.Translation2d[] moduleLocationsMeters
        +
        Swerve Module locations.
        +
        +
        • +
      • +
        +

        imu

        +
        public SwerveIMU imu
        +
        Swerve IMU
        +
        +
        • +
      • +
        +

        invertedIMU

        +
        public boolean invertedIMU
        +
        Invert the imu measurements.
        +
        +
        • +
      • +
        +

        maxSpeed

        +
        public double maxSpeed
        +
        Max speed in meters per second.
        +
        +
        • +
      • +
        +

        moduleCount

        +
        public int moduleCount
        +
        Number of modules on the robot.
        +
        +
        • +
      • +
        +

        modules

        +
        public SwerveModule[] modules
        +
        Swerve Modules.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SwerveDriveConfiguration

          -
          public SwerveDriveConfiguration​(SwerveModuleConfiguration[] moduleConfigs,
-                                SwerveIMU swerveIMU,
-                                double maxSpeed,
-                                boolean invertedIMU)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SwerveDriveConfiguration

            +
            public SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, + SwerveIMU swerveIMU, + double maxSpeed, + boolean invertedIMU)
            Create swerve drive configuration.
            -
            -
            Parameters:
            +
            +
            Parameters:
            moduleConfigs - Module configuration.
            swerveIMU - Swerve IMU.
            maxSpeed - Max speed of the robot in meters per second.
            invertedIMU - Invert the IMU.
            -
            • -
          +
      + -
      -
    -
    -
    - + - diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index 4a1d46c..b13390e 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,519 +1,360 @@ - - + SwerveModuleConfiguration + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser
    -

    Class SwerveModuleConfiguration

    +
    Package swervelib.parser
    +

    Class SwerveModuleConfiguration

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.SwerveModuleConfiguration
      +
      +
      -
      public class SwerveModuleConfiguration
-extends Object
      +
      public class SwerveModuleConfiguration +extends Object
      Swerve Module configuration class which is used to configure SwerveModule.
      -
      • -
    -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          angleOffset

          -
          public final double angleOffset
          -
          Angle offset in degrees for the Swerve Module.
          -
          • -
        - - - -
          -
        • -

          absoluteEncoderInverted

          -
          public final boolean absoluteEncoderInverted
          +
          final boolean
          +
          absoluteEncoderInverted
          +
          Whether the absolute encoder is inverted.
          -
          • -
        - - - -
          -
        • -

          driveMotorInverted

          -
          public final boolean driveMotorInverted
          -
          State of inversion of the drive motor.
          -
          • -
        - - - -
          -
        • -

          angleMotorInverted

          -
          public final boolean angleMotorInverted
          -
          State of inversion of the angle motor.
          -
          • -
        - - - -
          -
        • -

          maxSpeed

          -
          public final double maxSpeed
          -
          Maximum robot speed in meters per second.
          -
          • -
        - - - -
          -
        • -

          anglePIDF

          -
          public PIDFConfig anglePIDF
          -
          PIDF configuration options for the angle motor closed-loop PID controller.
          -
          • -
        - - - -
          -
        • -

          velocityPIDF

          -
          public PIDFConfig velocityPIDF
          -
          PIDF configuration options for the drive motor closed-loop PID controller.
          -
          • -
        - - - -
          -
        • -

          angleKV

          -
          public double angleKV
          +
    +
    double
    +
    angleKV
    +
    Angle volt-meter-per-second.
    - - - - - -
      -
    • -

      moduleLocation

      -
      public edu.wpi.first.math.geometry.Translation2d moduleLocation
      +
    +
    SwerveMotor
    +
    angleMotor
    +
    +
    The drive motor and angle motor of this swerve module.
    +
    +
    final boolean
    +
    angleMotorInverted
    +
    +
    State of inversion of the angle motor.
    +
    +
    final double
    +
    angleOffset
    +
    +
    Angle offset in degrees for the Swerve Module.
    +
    +
    PIDFConfig
    +
    anglePIDF
    +
    +
    PIDF configuration options for the angle motor closed-loop PID controller.
    +
    +
    SwerveMotor
    +
    driveMotor
    +
    +
    The drive motor and angle motor of this swerve module.
    +
    +
    final boolean
    +
    driveMotorInverted
    +
    +
    State of inversion of the drive motor.
    +
    +
    final double
    +
    maxSpeed
    +
    +
    Maximum robot speed in meters per second.
    +
    +
    edu.wpi.first.math.geometry.Translation2d
    +
    moduleLocation
    +
    Swerve module location relative to the robot.
    - - - - - -
    +
    SwerveModulePhysicalCharacteristics
    +
    physicalCharacteristics
    +
    Physical characteristics of the swerve module.
    +
    +
    PIDFConfig
    +
    velocityPIDF
    +
    +
    PIDF configuration options for the drive motor closed-loop PID controller.
    +
    +
    + - - - - - - - - -
      -
    • -

      angleMotor

      -
      public SwerveMotor angleMotor
      -
      The drive motor and angle motor of this swerve module.
      -
      • -
    - - - -
      -
    • -

      absoluteEncoder

      -
      public SwerveAbsoluteEncoder absoluteEncoder
      -
      The Absolute Encoder for the swerve module.
      -
      • -
    + +
  • +
    +

    Method Summary

    +
    +
    +
    +
    +
    Modifier and Type
    +
    Method
    +
    Description
    +
    edu.wpi.first.math.controller.SimpleMotorFeedforward
    +
    createDriveFeedforward()
    +
    +
    Create the drive feedforward for swerve modules.
    +
    +
    double
    +
    getPositionEncoderConversion(boolean isDriveMotor)
    +
    +
    Get the encoder conversion for position encoders.
    +
    +
    +
    +
    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        angleOffset

        +
        public final double angleOffset
        +
        Angle offset in degrees for the Swerve Module.
        +
        +
        • +
      • +
        +

        absoluteEncoderInverted

        +
        public final boolean absoluteEncoderInverted
        +
        Whether the absolute encoder is inverted.
        +
        +
        • +
      • +
        +

        driveMotorInverted

        +
        public final boolean driveMotorInverted
        +
        State of inversion of the drive motor.
        +
        +
        • +
      • +
        +

        angleMotorInverted

        +
        public final boolean angleMotorInverted
        +
        State of inversion of the angle motor.
        +
        +
        • +
      • +
        +

        maxSpeed

        +
        public final double maxSpeed
        +
        Maximum robot speed in meters per second.
        +
        +
        • +
      • +
        +

        anglePIDF

        +
        public PIDFConfig anglePIDF
        +
        PIDF configuration options for the angle motor closed-loop PID controller.
        +
        +
        • +
      • +
        +

        velocityPIDF

        +
        public PIDFConfig velocityPIDF
        +
        PIDF configuration options for the drive motor closed-loop PID controller.
        +
        +
        • +
      • +
        +

        angleKV

        +
        public double angleKV
        +
        Angle volt-meter-per-second.
        +
        +
        • +
      • +
        +

        moduleLocation

        +
        public edu.wpi.first.math.geometry.Translation2d moduleLocation
        +
        Swerve module location relative to the robot.
        +
        +
        • +
      • +
        +

        physicalCharacteristics

        +
        public SwerveModulePhysicalCharacteristics physicalCharacteristics
        +
        Physical characteristics of the swerve module.
        +
        +
        • +
      • +
        +

        driveMotor

        +
        public SwerveMotor driveMotor
        +
        The drive motor and angle motor of this swerve module.
        +
        +
        • +
      • +
        +

        angleMotor

        +
        public SwerveMotor angleMotor
        +
        The drive motor and angle motor of this swerve module.
        +
        +
        • +
      • +
        +

        absoluteEncoder

        +
        public SwerveAbsoluteEncoder absoluteEncoder
        +
        The Absolute Encoder for the swerve module.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SwerveModuleConfiguration

          -
          public SwerveModuleConfiguration​(SwerveMotor driveMotor,
-                                 SwerveMotor angleMotor,
-                                 SwerveAbsoluteEncoder absoluteEncoder,
-                                 double angleOffset,
-                                 double xMeters,
-                                 double yMeters,
-                                 PIDFConfig anglePIDF,
-                                 PIDFConfig velocityPIDF,
-                                 double maxSpeed,
-                                 SwerveModulePhysicalCharacteristics physicalCharacteristics,
-                                 boolean absoluteEncoderInverted,
-                                 boolean driveMotorInverted,
-                                 boolean angleMotorInverted)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SwerveModuleConfiguration

            +
            public SwerveModuleConfiguration(SwerveMotor driveMotor, + SwerveMotor angleMotor, + SwerveAbsoluteEncoder absoluteEncoder, + double angleOffset, + double xMeters, + double yMeters, + PIDFConfig anglePIDF, + PIDFConfig velocityPIDF, + double maxSpeed, + SwerveModulePhysicalCharacteristics physicalCharacteristics, + boolean absoluteEncoderInverted, + boolean driveMotorInverted, + boolean angleMotorInverted)
            Construct a configuration object for swerve modules.
            -
            -
            Parameters:
            +
            +
            Parameters:
            driveMotor - Drive SwerveMotor.
            angleMotor - Angle SwerveMotor
            absoluteEncoder - Absolute encoder SwerveAbsoluteEncoder.
            @@ -528,28 +369,25 @@ extends - - -
              -
            • -

              SwerveModuleConfiguration

              -
              public SwerveModuleConfiguration​(SwerveMotor driveMotor,
-                                 SwerveMotor angleMotor,
-                                 SwerveAbsoluteEncoder absoluteEncoder,
-                                 double angleOffset,
-                                 double xMeters,
-                                 double yMeters,
-                                 PIDFConfig anglePIDF,
-                                 PIDFConfig velocityPIDF,
-                                 double maxSpeed,
-                                 SwerveModulePhysicalCharacteristics physicalCharacteristics)
              +
            • +
              +

              SwerveModuleConfiguration

              +
              public SwerveModuleConfiguration(SwerveMotor driveMotor, + SwerveMotor angleMotor, + SwerveAbsoluteEncoder absoluteEncoder, + double angleOffset, + double xMeters, + double yMeters, + PIDFConfig anglePIDF, + PIDFConfig velocityPIDF, + double maxSpeed, + SwerveModulePhysicalCharacteristics physicalCharacteristics)
              Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not inverted.
              -
              -
              Parameters:
              +
              +
              Parameters:
              driveMotor - Drive SwerveMotor.
              angleMotor - Angle SwerveMotor
              absoluteEncoder - Absolute encoder SwerveAbsoluteEncoder.
              @@ -561,116 +399,48 @@ extends -
            • - - -

              Method Detail

              - - - -
                -
              • -

                createDriveFeedforward

                -
                public edu.wpi.first.math.controller.SimpleMotorFeedforward createDriveFeedforward()
                +
              • +
                +

                Method Details

                +
                  +
                • +
                  +

                  createDriveFeedforward

                  +
                  public edu.wpi.first.math.controller.SimpleMotorFeedforward createDriveFeedforward()
                  Create the drive feedforward for swerve modules.
                  -
                  -
                  Returns:
                  +
                  +
                  Returns:
                  Drive feedforward for drive motor on a swerve module.
                  +
                  • -
                - - - -
                  -
                • -

                  getPositionEncoderConversion

                  -
                  public double getPositionEncoderConversion​(boolean isDriveMotor)
                  +
                • +
                  +

                  getPositionEncoderConversion

                  +
                  public double getPositionEncoderConversion(boolean isDriveMotor)
                  Get the encoder conversion for position encoders.
                  -
                  -
                  Parameters:
                  +
                  +
                  Parameters:
                  isDriveMotor - For the drive motor.
                  -
                  Returns:
                  +
                  Returns:
                  Position encoder conversion factor.
                  -
                  • -
                +
            -
    -
    - + - diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 83ee91c..5db3531 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,470 +1,320 @@ - - + SwerveModulePhysicalCharacteristics + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser
    -

    Class SwerveModulePhysicalCharacteristics

    +
    Package swervelib.parser
    +

    Class SwerveModulePhysicalCharacteristics

    -
    -
      -
    • java.lang.Object
      • -
    • -
        -
      • swervelib.parser.SwerveModulePhysicalCharacteristics
        • -
      -
      • -
    -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.SwerveModulePhysicalCharacteristics
      +
      +
      -
      public class SwerveModulePhysicalCharacteristics
-extends Object
      +
      public class SwerveModulePhysicalCharacteristics +extends Object
      Configuration class which stores physical characteristics shared between every swerve module.
      -
      • -
    -
    -
    -
      -
    • + +
      +
        -
        - -
        - -
        -
          -
        • - - -

          Constructor Summary

          - - - - - - - - - - - - - - -
          Constructors 
          ConstructorDescription
          SwerveModulePhysicalCharacteristics​(double driveGearRatio, - double angleGearRatio, - double angleMotorFreeSpeedRPM, - double wheelDiameter, - double driveMotorRampRate, - double angleMotorRampRate, - int driveEncoderPulsePerRotation, - int angleEncoderPulsePerRotation) -
          Construct the swerve module physical characteristics.
          -
          SwerveModulePhysicalCharacteristics​(double driveGearRatio, - double angleGearRatio, - double angleMotorFreeSpeedRPM, - double wheelDiameter, - double wheelGripCoefficientOfFriction, - double optimalVoltage, - int driveMotorCurrentLimit, - int angleMotorCurrentLimit, - double driveMotorRampRate, - double angleMotorRampRate, - int driveEncoderPulsePerRotation, - int angleEncoderPulsePerRotation) -
          Construct the swerve module physical characteristics.
          -
          -
          • -
        -
        - -
        - -
        - -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          wheelDiameter

          -
          public final double wheelDiameter
          -
          Wheel diameter in meters.
          -
          • -
        - - - -
          -
        • -

          driveGearRatio

          -
          public final double driveGearRatio
          -
          Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.
          -
          • -
        - - - -
          -
        • -

          angleGearRatio

          -
          public final double angleGearRatio
          -
          Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.
          -
          • -
        - - - -
          -
        • -

          driveEncoderPulsePerRotation

          -
          public final int driveEncoderPulsePerRotation
          -
          Drive motor encoder pulse per rotation. 1 if integrated encoder.
          -
          • -
        - - - -
          -
        • -

          angleEncoderPulsePerRotation

          -
          public final int angleEncoderPulsePerRotation
          -
          Angle motor encoder pulse per rotation. 1 if integrated encoder.
          -
          • -
        - - - -
          -
        • -

          optimalVoltage

          -
          public final double optimalVoltage
          -
          Optimal voltage of the robot.
          -
          • -
        - - - -
          -
        • -

          driveMotorCurrentLimit

          -
          public final int driveMotorCurrentLimit
          +
          final double
          +
          angleGearRatio
          +
          +
          Angle gear ratio.
          +
          +
          final int
          +
          angleMotorCurrentLimit
          +
          Current limits for the Swerve Module.
          -
          • -
        - - - -
          -
        • -

          angleMotorCurrentLimit

          -
          public final int angleMotorCurrentLimit
          -
          Current limits for the Swerve Module.
          -
          • -
        - - - -
          -
        • -

          driveMotorRampRate

          -
          public final double driveMotorRampRate
          -
          The time it takes for the motor to go from 0 to full throttle in seconds.
          -
          • -
        - - - -
          -
        • -

          angleMotorRampRate

          -
          public final double angleMotorRampRate
          -
          The time it takes for the motor to go from 0 to full throttle in seconds.
          -
          • -
        - - - -
          -
        • -

          wheelGripCoefficientOfFriction

          -
          public final double wheelGripCoefficientOfFriction
          -
          Wheel grip tape coefficient of friction on carpet, as described by the vendor.
          -
          • -
        - - - -
          -
        • -

          angleMotorFreeSpeedRPM

          -
          public final double angleMotorFreeSpeedRPM
          +
    +
    final double
    +
    angleMotorFreeSpeedRPM
    +
    Free speed rotations per minute of the motor, as described by the vendor.
    +
    +
    final double
    +
    angleMotorRampRate
    +
    +
    The time it takes for the motor to go from 0 to full throttle in seconds.
    +
    +
    final int
    +
    driveEncoderPulsePerRotation
    +
    +
    Drive motor encoder pulse per rotation.
    +
    +
    final double
    +
    driveGearRatio
    +
    +
    Drive gear ratio.
    +
    +
    final int
    +
    driveMotorCurrentLimit
    +
    +
    Current limits for the Swerve Module.
    +
    +
    final double
    +
    driveMotorRampRate
    +
    +
    The time it takes for the motor to go from 0 to full throttle in seconds.
    +
    +
    final double
    +
    optimalVoltage
    +
    +
    Optimal voltage of the robot.
    +
    +
    final double
    +
    wheelDiameter
    +
    +
    Wheel diameter in meters.
    +
    +
    final double
    +
    wheelGripCoefficientOfFriction
    +
    +
    Wheel grip tape coefficient of friction on carpet, as described by the vendor.
    +
    +
    + - + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    SwerveModulePhysicalCharacteristics(double driveGearRatio, + double angleGearRatio, + double angleMotorFreeSpeedRPM, + double wheelDiameter, + double driveMotorRampRate, + double angleMotorRampRate, + int driveEncoderPulsePerRotation, + int angleEncoderPulsePerRotation)
    +
    +
    Construct the swerve module physical characteristics.
    +
    +
    SwerveModulePhysicalCharacteristics(double driveGearRatio, + double angleGearRatio, + double angleMotorFreeSpeedRPM, + double wheelDiameter, + double wheelGripCoefficientOfFriction, + double optimalVoltage, + int driveMotorCurrentLimit, + int angleMotorCurrentLimit, + double driveMotorRampRate, + double angleMotorRampRate, + int driveEncoderPulsePerRotation, + int angleEncoderPulsePerRotation)
    +
    +
    Construct the swerve module physical characteristics.
    +
    +
    +
    +
    • + +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        wheelDiameter

        +
        public final double wheelDiameter
        +
        Wheel diameter in meters.
        +
        +
        • +
      • +
        +

        driveGearRatio

        +
        public final double driveGearRatio
        +
        Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.
        +
        +
        • +
      • +
        +

        angleGearRatio

        +
        public final double angleGearRatio
        +
        Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.
        +
        +
        • +
      • +
        +

        driveEncoderPulsePerRotation

        +
        public final int driveEncoderPulsePerRotation
        +
        Drive motor encoder pulse per rotation. 1 if integrated encoder.
        +
        +
        • +
      • +
        +

        angleEncoderPulsePerRotation

        +
        public final int angleEncoderPulsePerRotation
        +
        Angle motor encoder pulse per rotation. 1 if integrated encoder.
        +
        +
        • +
      • +
        +

        optimalVoltage

        +
        public final double optimalVoltage
        +
        Optimal voltage of the robot.
        +
        +
        • +
      • +
        +

        driveMotorCurrentLimit

        +
        public final int driveMotorCurrentLimit
        +
        Current limits for the Swerve Module.
        +
        +
        • +
      • +
        +

        angleMotorCurrentLimit

        +
        public final int angleMotorCurrentLimit
        +
        Current limits for the Swerve Module.
        +
        +
        • +
      • +
        +

        driveMotorRampRate

        +
        public final double driveMotorRampRate
        +
        The time it takes for the motor to go from 0 to full throttle in seconds.
        +
        +
        • +
      • +
        +

        angleMotorRampRate

        +
        public final double angleMotorRampRate
        +
        The time it takes for the motor to go from 0 to full throttle in seconds.
        +
        +
        • +
      • +
        +

        wheelGripCoefficientOfFriction

        +
        public final double wheelGripCoefficientOfFriction
        +
        Wheel grip tape coefficient of friction on carpet, as described by the vendor.
        +
        +
        • +
      • +
        +

        angleMotorFreeSpeedRPM

        +
        public final double angleMotorFreeSpeedRPM
        +
        Free speed rotations per minute of the motor, as described by the vendor.
        +
        +
        • +
      +
      +
      • -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          SwerveModulePhysicalCharacteristics

          -
          public SwerveModulePhysicalCharacteristics​(double driveGearRatio,
-                                           double angleGearRatio,
-                                           double angleMotorFreeSpeedRPM,
-                                           double wheelDiameter,
-                                           double wheelGripCoefficientOfFriction,
-                                           double optimalVoltage,
-                                           int driveMotorCurrentLimit,
-                                           int angleMotorCurrentLimit,
-                                           double driveMotorRampRate,
-                                           double angleMotorRampRate,
-                                           int driveEncoderPulsePerRotation,
-                                           int angleEncoderPulsePerRotation)
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SwerveModulePhysicalCharacteristics

            +
            public SwerveModulePhysicalCharacteristics(double driveGearRatio, + double angleGearRatio, + double angleMotorFreeSpeedRPM, + double wheelDiameter, + double wheelGripCoefficientOfFriction, + double optimalVoltage, + int driveMotorCurrentLimit, + int angleMotorCurrentLimit, + double driveMotorRampRate, + double angleMotorRampRate, + int driveEncoderPulsePerRotation, + int angleEncoderPulsePerRotation)
            Construct the swerve module physical characteristics.
            -
            -
            Parameters:
            +
            +
            Parameters:
            driveGearRatio - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.
            angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
            @@ -481,27 +331,24 @@ extends - - -
              -
            • -

              SwerveModulePhysicalCharacteristics

              -
              public SwerveModulePhysicalCharacteristics​(double driveGearRatio,
-                                           double angleGearRatio,
-                                           double angleMotorFreeSpeedRPM,
-                                           double wheelDiameter,
-                                           double driveMotorRampRate,
-                                           double angleMotorRampRate,
-                                           int driveEncoderPulsePerRotation,
-                                           int angleEncoderPulsePerRotation)
              +
            • +
              +

              SwerveModulePhysicalCharacteristics

              +
              public SwerveModulePhysicalCharacteristics(double driveGearRatio, + double angleGearRatio, + double angleMotorFreeSpeedRPM, + double wheelDiameter, + double driveMotorRampRate, + double angleMotorRampRate, + int driveEncoderPulsePerRotation, + int angleEncoderPulsePerRotation)
              Construct the swerve module physical characteristics. Assume coefficient of friction is 1.19 (taken from blue nitrile on carpet from Studica) and optimal voltage is 12v. Assumes the drive motor current limit is 40A, and the angle motor current limit is 20A.
              -
              -
              Parameters:
              +
              +
              Parameters:
              driveGearRatio - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.
              angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
              angleMotorFreeSpeedRPM - Motor free speed rotation per minute.
              @@ -513,76 +360,16 @@ extends -
    -
    - -
    - -
    -
    - - -
    - - -
    - - - diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index 47b585e..a185a55 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,520 +1,323 @@ - - + SwerveParser + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser
    -

    Class SwerveParser

    +
    Package swervelib.parser
    +

    Class SwerveParser

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.SwerveParser
      +
      +
      -
      public class SwerveParser
-extends Object
      +
      public class SwerveParser +extends Object
      Helper class used to parse the JSON directory with specified configuration options.
      -
      • -
    -
    -
    -
    -
    -
    +
    static PhysicalPropertiesJson
    +
    physicalPropertiesJson
    +
    +
    Parsed modules/physicalproperties.json
    +
    +
    static PIDFPropertiesJson
    +
    pidfPropertiesJson
    +
    +
    Parsed modules/pidfproperties.json
    +
    +
    static SwerveDriveJson
    +
    swerveDriveJson
    +
    +
    Parsed swervedrive.json
    +
    +
    - -
    -
      -
    • - - -

      Constructor Detail

      - - - -
        -
      • -

        SwerveParser

        -
        public SwerveParser​(File directory)
-             throws IOException
        -
        Construct a swerve parser. Will throw an error if there is a missing file.
        -
        -
        Parameters:
        -
        directory - Directory with swerve configurations.
        -
        Throws:
        -
        IOException
        -
        • -
      -
      • -
    + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    SwerveParser(File directory)
    +
    +
    Construct a swerve parser.
    +
    +
    - -
    -
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        moduleConfigs

        +
        private static final HashMap<String,Integer> moduleConfigs
        +
        Module number mapped to the JSON name.
        +
        +
        • +
      • +
        +

        swerveDriveJson

        +
        public static SwerveDriveJson swerveDriveJson
        +
        Parsed swervedrive.json
        +
        +
        • +
      • +
        +

        controllerPropertiesJson

        +
        public static ControllerPropertiesJson controllerPropertiesJson
        +
        Parsed controllerproperties.json
        +
        +
        • +
      • +
        +

        pidfPropertiesJson

        +
        public static PIDFPropertiesJson pidfPropertiesJson
        +
        Parsed modules/pidfproperties.json
        +
        +
        • +
      • +
        +

        physicalPropertiesJson

        +
        public static PhysicalPropertiesJson physicalPropertiesJson
        +
        Parsed modules/physicalproperties.json
        +
        +
        • +
      • +
        +

        moduleJsons

        +
        public static ModuleJson[] moduleJsons
        +
        Array holding the module jsons given in SwerveDriveJson.
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        SwerveParser

        +
        public SwerveParser(File directory) + throws IOException
        +
        Construct a swerve parser. Will throw an error if there is a missing file.
        +
        +
        Parameters:
        +
        directory - Directory with swerve configurations.
        +
        Throws:
        +
        IOException - if a file doesn't exist.
        +
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Method Details

      + - - - -
        -
      • -

        openJson

        -
        private com.fasterxml.jackson.databind.JsonNode openJson​(File file)
        +
      • +
        +

        openJson

        +
        private com.fasterxml.jackson.databind.JsonNode openJson(File file)
        Open JSON file.
        -
        -
        Parameters:
        +
        +
        Parameters:
        file - JSON File to open.
        -
        Returns:
        +
        Returns:
        JsonNode of file.
        +
        • -
      - - - -
        -
      • -

        checkDirectory

        -
        private void checkDirectory​(File directory)
        +
      • +
        +

        checkDirectory

        +
        private void checkDirectory(File directory)
        Check directory structure.
        -
        -
        Parameters:
        +
        +
        Parameters:
        directory - JSON Configuration Directory
        +
        • -
      - - - -
        -
      • -

        createSwerveDrive

        -
        public SwerveDrive createSwerveDrive()
        +
      • +
        +

        createSwerveDrive

        +
        public SwerveDrive createSwerveDrive()
        Create SwerveDrive from JSON configuration directory.
        -
        -
        Returns:
        +
        +
        Returns:
        SwerveDrive instance.
        -
        • -
      +
    • -
    -
    - + - diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 2d86251..9d5d864 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,330 +1,172 @@ - - + PIDFRange + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.deserializer
    -

    Class PIDFRange

    +
    Package swervelib.parser.deserializer
    +

    Class PIDFRange

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.deserializer.PIDFRange
      +
      +
      -
      public class PIDFRange
-extends Object
      +
      public class PIDFRange +extends Object
      Class to hold the minimum and maximum input or output of the PIDF.
      -
      • -
    -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          doublemax +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          double
          +
          max
          +
          Maximum value.
          -
          • doublemin + +
          double
          +
          min
          +
          Minimum value.
          -
          -
          • -
        +
    +
    + -
    -
      -
    • - - -

      Constructor Summary

      - - - - - - - - - - -
      Constructors 
      ConstructorDescription
      PIDFRange() 
      -
      • -
    +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    PIDFRange()
    +
     
    +
    +
    • -
    - +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    • -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Detail

          - - - -
            -
          • -

            min

            -
            public double min
            +
          • +
            +

            Field Details

            +
              +
            • +
              +

              min

              +
              public double min
              Minimum value.
              +
              • -
            - - - -
              -
            • -

              max

              -
              public double max
              +
            • +
              +

              max

              +
              public double max
              Maximum value.
              -
              • -
            +
        + -
        -
          -
        • - - -

          Constructor Detail

          - - - -
            -
          • -

            PIDFRange

            -
            public PIDFRange()
            -
            • -
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            PIDFRange

            +
            public PIDFRange()
            +
        -
    -
    - + - diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index eb6ba23..a130248 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,167 +1,97 @@ - - + swervelib.parser.deserializer + - + + + - + - - - - - + + - - -
    +
    + +
    -

    Package swervelib.parser.deserializer

    +

    Package swervelib.parser.deserializer

    -
    -
      -
    • - - - - - - - - - - - - -
      Class Summary 
      ClassDescription
      PIDFRange +
      +
      package swervelib.parser.deserializer
      +
      +
      +
    +
    +
    -
    + -
    - -
    diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index c218069..fd018a0 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,162 +1,71 @@ - - + swervelib.parser.deserializer Class Hierarchy + - + + + - + - - - - - + + - - -
    +
    + +

    Hierarchy For Package swervelib.parser.deserializer

    -Package Hierarchies: +Package Hierarchies:
    -
    -
    +

    Class Hierarchy

    -
    - diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index 37911ec..efbca26 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,377 +1,212 @@ - - + ControllerPropertiesJson + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json
    -

    Class ControllerPropertiesJson

    +
    Package swervelib.parser.json
    +

    Class ControllerPropertiesJson

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.json.ControllerPropertiesJson
      +
      +
      -
      public class ControllerPropertiesJson
-extends Object
      +
      public class ControllerPropertiesJson +extends Object
      SwerveController parsed class. Used to access the JSON data.
      -
      • -
    -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          angleJoystickRadiusDeadband

          -
          public double angleJoystickRadiusDeadband
          -
          The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
          -
          • -
        - - - - -
        • -
      +
    +
    - -
    -
      -
    • - - -

      Constructor Detail

      - - - -
        -
      • -

        ControllerPropertiesJson

        -
        public ControllerPropertiesJson()
        • -
      -
      • -
    + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    ControllerPropertiesJson()
    +
     
    +
    - -
    -
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        angleJoystickRadiusDeadband

        +
        public double angleJoystickRadiusDeadband
        +
        The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
        +
        +
        • +
      • +
        +

        heading

        +
        public PIDFConfig heading
        +
        The PID used to control the robot heading.
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        ControllerPropertiesJson

        +
        public ControllerPropertiesJson()
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Method Details

      + +
    • -
    -
    - + - diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index 840231f..e396ca5 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,459 +1,274 @@ - - + DeviceJson + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json
    -

    Class DeviceJson

    +
    Package swervelib.parser.json
    +

    Class DeviceJson

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.json.DeviceJson
      +
      +
      -
      public class DeviceJson
-extends Object
      +
      public class DeviceJson +extends Object
      Device JSON parsed class. Used to access the JSON data.
      -
      • -
    -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          type

          -
          public String type
          -
          The device type, e.g. pigeon/pigeon2/sparkmax/talonfx/navx
          -
          • -
        - - - -
          -
        • -

          id

          -
          public int id
          +
          int
          +
          id
          +
          The CAN ID or pin ID of the device.
          -
          • -
        - - - -
          -
        • -

          canbus

          -
          public String canbus
          -
          The CAN bus name which the device resides on if using CAN.
          -
          • -
        -
        • -
      +
    +
    String
    +
    type
    +
    +
    The device type, e.g.
    +
    +
    - -
    -
      -
    • - - -

      Constructor Detail

      - - - -
        -
      • -

        DeviceJson

        -
        public DeviceJson()
        • -
      -
      • -
    + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    DeviceJson()
    +
     
    +
    - -
    -
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        type

        +
        public String type
        +
        The device type, e.g. pigeon/pigeon2/sparkmax/talonfx/navx
        +
        +
        • +
      • +
        +

        id

        +
        public int id
        +
        The CAN ID or pin ID of the device.
        +
        +
        • +
      • +
        +

        canbus

        +
        public String canbus
        +
        The CAN bus name which the device resides on if using CAN.
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        DeviceJson

        +
        public DeviceJson()
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Method Details

      + - - - -
        -
      • -

        createIMU

        -
        public SwerveIMU createIMU()
        +
      • +
        +

        createIMU

        +
        public SwerveIMU createIMU()
        Create a SwerveIMU from the given configuration.
        -
        -
        Returns:
        +
        +
        Returns:
        SwerveIMU given.
        +
        • -
      - - - -
        -
      • -

        createMotor

        -
        public SwerveMotor createMotor​(boolean isDriveMotor)
        +
      • +
        +

        createMotor

        +
        public SwerveMotor createMotor(boolean isDriveMotor)
        Create a SwerveMotor from the given configuration.
        -
        -
        Parameters:
        +
        +
        Parameters:
        isDriveMotor - If the motor being generated is a drive motor.
        -
        Returns:
        +
        Returns:
        SwerveMotor given.
        +
        • -
      - - - - +
    • -
    -
    - + - diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index af4b80c..bdd82f1 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,471 +1,281 @@ - - + ModuleJson + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json
    -

    Class ModuleJson

    +
    Package swervelib.parser.json
    +

    Class ModuleJson

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.json.ModuleJson
      +
      +
      -
      public class ModuleJson
-extends Object
      +
      public class ModuleJson +extends Object
      SwerveModule JSON parsed class. Used to access the JSON data.
      -
      • -
    -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          drive

          -
          public DeviceJson drive
          -
          Drive motor device configuration.
          -
          • -
        - - - -
          -
        • -

          angle

          -
          public DeviceJson angle
          -
          Angle motor device configuration.
          -
          • -
        - - - -
          -
        • -

          encoder

          -
          public DeviceJson encoder
          -
          Absolute encoder device configuration.
          -
          • -
        - - - -
          -
        • -

          inverted

          -
          public BoolMotorJson inverted
          -
          Defines which motors are inverted.
          -
          • -
        - - - -
          -
        • -

          absoluteEncoderOffset

          -
          public double absoluteEncoderOffset
          +
          double
          +
          absoluteEncoderOffset
          +
          Absolute encoder offset from 0 in degrees.
          -
          • -
        - - - -
          -
        • -

          absoluteEncoderInverted

          -
          public boolean absoluteEncoderInverted
          -
          Absolute encoder inversion state.
          -
          • -
        - - - -
    +
    DeviceJson
    +
    angle
    +
    +
    Angle motor device configuration.
    +
    +
    DeviceJson
    +
    drive
    +
    +
    Drive motor device configuration.
    +
    +
    DeviceJson
    +
    encoder
    +
    +
    Absolute encoder device configuration.
    +
    +
    BoolMotorJson
    +
    inverted
    +
    +
    Defines which motors are inverted.
    +
    +
    LocationJson
    +
    location
    +
    The location of the swerve module from the center of the robot in inches.
    - - - - +
    +
    - -
    -
      -
    • - - -

      Constructor Detail

      - - - -
        -
      • -

        ModuleJson

        -
        public ModuleJson()
        • -
      -
      • -
    + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    ModuleJson()
    +
     
    +
    - -
    -
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        drive

        +
        public DeviceJson drive
        +
        Drive motor device configuration.
        +
        +
        • +
      • +
        +

        angle

        +
        public DeviceJson angle
        +
        Angle motor device configuration.
        +
        +
        • +
      • +
        +

        encoder

        +
        public DeviceJson encoder
        +
        Absolute encoder device configuration.
        +
        +
        • +
      • +
        +

        inverted

        +
        public BoolMotorJson inverted
        +
        Defines which motors are inverted.
        +
        +
        • +
      • +
        +

        absoluteEncoderOffset

        +
        public double absoluteEncoderOffset
        +
        Absolute encoder offset from 0 in degrees.
        +
        +
        • +
      • +
        +

        absoluteEncoderInverted

        +
        public boolean absoluteEncoderInverted
        +
        Absolute encoder inversion state.
        +
        +
        • +
      • +
        +

        location

        +
        public LocationJson location
        +
        The location of the swerve module from the center of the robot in inches.
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        ModuleJson

        +
        public ModuleJson()
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Method Details

      +
        +
      • +
        +

        createModuleConfiguration

        +
        public SwerveModuleConfiguration createModuleConfiguration(PIDFConfig anglePIDF, + PIDFConfig velocityPIDF, + double maxSpeed, + SwerveModulePhysicalCharacteristics physicalCharacteristics)
        +
        Create the swerve module configuration based off of parsed data.
        +
        +
        Parameters:
        anglePIDF - The PIDF values for the angle motor.
        velocityPIDF - The velocity PIDF values for the drive motor.
        maxSpeed - The maximum speed of the robot in meters per second.
        physicalCharacteristics - Physical characteristics of the swerve module.
        -
        Returns:
        +
        Returns:
        SwerveModuleConfiguration based on the provided data and parsed data.
        -
        • -
      +
    • -
    -
    - + - diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index 80f6370..7fbfeef 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,356 +1,193 @@ - - + MotorConfigDouble + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json
    -

    Class MotorConfigDouble

    +
    Package swervelib.parser.json
    +

    Class MotorConfigDouble

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.json.MotorConfigDouble
      +
      +
      -
      class MotorConfigDouble
-extends Object
      +
      class MotorConfigDouble +extends Object
      Used to store doubles for motor configuration.
      -
      • -
    -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          drive

          -
          public double drive
          +
          double
          +
          drive
          +
          Drive motor.
          +
          +
    + - - - - -
      -
    • -

      angle

      -
      public double angle
      -
      Angle motor.
      + +
    • +
      +

      Constructor Summary

      +
      Constructors
      +
      +
      Constructor
      +
      Description
      +
      MotorConfigDouble()
      +
      +
      Default constructor.
      +
      +
      MotorConfigDouble(double angle, + double drive)
      +
      +
      Default constructor.
      +
      +
      +
      • -
    + +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • - -
    -
      -
    • - - -

      Constructor Detail

      - - - -
        -
      • -

        MotorConfigDouble

        -
        public MotorConfigDouble()
        -
        Default constructor.
        +
        +
          + +
        • +
          +

          Field Details

          +
            +
          • +
            +

            drive

            +
            public double drive
            +
            Drive motor.
            +
            +
            • +
          • +
            +

            angle

            +
            public double angle
            +
            Angle motor.
            +
          - - - -
            -
          • -

            MotorConfigDouble

            -
            public MotorConfigDouble​(double angle,
-                         double drive)
            +
          +
          • + +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            MotorConfigDouble

            +
            public MotorConfigDouble()
            Default constructor.
            -
            -
            Parameters:
            +
            +
            • +
          • +
            +

            MotorConfigDouble

            +
            public MotorConfigDouble(double angle, + double drive)
            +
            Default constructor.
            +
            +
            Parameters:
            angle - Angle data.
            drive - Drive data.
            -
            • -
          +
      -
    -
    - + - diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index 4280560..bc18b2b 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,356 +1,193 @@ - - + MotorConfigInt + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json
    -

    Class MotorConfigInt

    +
    Package swervelib.parser.json
    +

    Class MotorConfigInt

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.json.MotorConfigInt
      +
      +
      -
      class MotorConfigInt
-extends Object
      +
      class MotorConfigInt +extends Object
      Used to store ints for motor configuration.
      -
      • -
    -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          drive

          -
          public int drive
          +
          int
          +
          drive
          +
          Drive motor.
          +
          +
    + - - - - -
      -
    • -

      angle

      -
      public int angle
      -
      Angle motor.
      + +
    • +
      +

      Constructor Summary

      +
      Constructors
      +
      +
      Constructor
      +
      Description
      +
      MotorConfigInt()
      +
      +
      Default constructor.
      +
      +
      MotorConfigInt(int drive, + int angle)
      +
      +
      Default constructor with values.
      +
      +
      +
      • -
    + +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    +
    • - -
    -
      -
    • - - -

      Constructor Detail

      - - - -
        -
      • -

        MotorConfigInt

        -
        public MotorConfigInt()
        -
        Default constructor.
        +
        +
          + +
        • +
          +

          Field Details

          +
            +
          • +
            +

            drive

            +
            public int drive
            +
            Drive motor.
            +
            +
            • +
          • +
            +

            angle

            +
            public int angle
            +
            Angle motor.
            +
          - - - -
            -
          • -

            MotorConfigInt

            -
            public MotorConfigInt​(int drive,
-                      int angle)
            +
          +
          • + +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            MotorConfigInt

            +
            public MotorConfigInt()
            +
            Default constructor.
            +
            +
            • +
          • +
            +

            MotorConfigInt

            +
            public MotorConfigInt(int drive, + int angle)
            Default constructor with values.
            -
            -
            Parameters:
            +
            +
            Parameters:
            drive - Drive data.
            angle - Angle data.
            -
            • -
          +
      -
    -
    - + - diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index 265f590..a54eb6c 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,330 +1,172 @@ - - + PIDFPropertiesJson + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json
    -

    Class PIDFPropertiesJson

    +
    Package swervelib.parser.json
    +

    Class PIDFPropertiesJson

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.json.PIDFPropertiesJson
      +
      +
      -
      public class PIDFPropertiesJson
-extends Object
      +
      public class PIDFPropertiesJson +extends Object
      SwerveModule PID with Feedforward for the drive motor and angle motor.
      -
      • -
    -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          PIDFConfigangle +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          PIDFConfig
          +
          angle
          +
          The PIDF with Integral Zone used for the angle motor.
          -
          • PIDFConfigdrive + +
          PIDFConfig
          +
          drive
          +
          The PIDF with Integral Zone used for the drive motor.
          -
          -
          • -
        +
    +
    + -
    -
      -
    • - - -

      Constructor Summary

      - - - - - - - - - - -
      Constructors 
      ConstructorDescription
      PIDFPropertiesJson() 
      -
      • -
    +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    PIDFPropertiesJson()
    +
     
    +
    +
    • -
    - +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    • -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Detail

          - - - -
            -
          • -

            drive

            -
            public PIDFConfig drive
            +
          • +
            +

            Field Details

            +
              +
            • +
              +

              drive

              +
              public PIDFConfig drive
              The PIDF with Integral Zone used for the drive motor.
              +
              • -
            - - - -
              -
            • -

              angle

              -
              public PIDFConfig angle
              +
            • +
              +

              angle

              +
              public PIDFConfig angle
              The PIDF with Integral Zone used for the angle motor.
              -
              • -
            +
        + -
        -
          -
        • - - -

          Constructor Detail

          - - - -
            -
          • -

            PIDFPropertiesJson

            -
            public PIDFPropertiesJson()
            -
            • -
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            PIDFPropertiesJson

            +
            public PIDFPropertiesJson()
            +
        -
    -
    - + - diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index 741e9e2..b651770 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,462 +1,272 @@ - - + PhysicalPropertiesJson + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json
    -

    Class PhysicalPropertiesJson

    +
    Package swervelib.parser.json
    +

    Class PhysicalPropertiesJson

    -
    - -
    - -
    -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Detail

        - - - -
          -
        • -

          wheelDiameter

          -
          public double wheelDiameter
          -
          Wheel diameter in inches.
          -
          • -
        - - - -
          -
        • -

          gearRatio

          -
          public MotorConfigDouble gearRatio
          -
          Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
          -
          • -
        - - - -
          -
        • -

          encoderPulsePerRotation

          -
          public MotorConfigInt encoderPulsePerRotation
          -
          Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.
          -
          • -
        - - - - - - - -
    +
    MotorConfigInt
    +
    encoderPulsePerRotation
    +
    +
    Encoder pulse per rotation for non-integrated encoders.
    +
    +
    MotorConfigDouble
    +
    gearRatio
    +
    +
    Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
    +
    +
    MotorConfigDouble
    +
    rampRate
    +
    The minimum number of seconds to take for the motor to go from 0 to full throttle.
    - - - - - -
      -
    • -

      wheelGripCoefficientOfFriction

      -
      public double wheelGripCoefficientOfFriction
      -
      The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.
      -
      • -
    - - - -
      -
    • -

      angleMotorFreeSpeedRPM

      -
      public double angleMotorFreeSpeedRPM
      -
      Angle motor free speed rotations per minute.
      -
      • -
    - - +
    +
    double
    +
    wheelDiameter
    +
    +
    Wheel diameter in inches.
    +
    +
    double
    +
    wheelGripCoefficientOfFriction
    +
    +
    The grip tape coefficient of friction on carpet.
    +
    +
    - -
    -
      -
    • - - -

      Constructor Detail

      - - - -
        -
      • -

        PhysicalPropertiesJson

        -
        public PhysicalPropertiesJson()
        • -
      -
      • -
    + +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    PhysicalPropertiesJson()
    +
     
    +
    - -
    -
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        wheelDiameter

        +
        public double wheelDiameter
        +
        Wheel diameter in inches.
        +
        +
        • +
      • +
        +

        gearRatio

        +
        public MotorConfigDouble gearRatio
        +
        Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
        +
        +
        • +
      • +
        +

        encoderPulsePerRotation

        +
        public MotorConfigInt encoderPulsePerRotation
        +
        Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.
        +
        +
        • +
      • +
        +

        currentLimit

        +
        public MotorConfigInt currentLimit
        +
        The current limit in AMPs to apply to the motors.
        +
        +
        • +
      • +
        +

        rampRate

        +
        public MotorConfigDouble rampRate
        +
        The minimum number of seconds to take for the motor to go from 0 to full throttle.
        +
        +
        • +
      • +
        +

        wheelGripCoefficientOfFriction

        +
        public double wheelGripCoefficientOfFriction
        +
        The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.
        +
        +
        • +
      • +
        +

        angleMotorFreeSpeedRPM

        +
        public double angleMotorFreeSpeedRPM
        +
        Angle motor free speed rotations per minute.
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        PhysicalPropertiesJson

        +
        public PhysicalPropertiesJson()
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Method Details

      +
        +
      • +
        +

        createPhysicalProperties

        +
        public SwerveModulePhysicalCharacteristics createPhysicalProperties(double optimalVoltage)
        +
        Create the physical characteristics based off the parsed data.
        +
        +
        Parameters:
        optimalVoltage - Optimal voltage to compensate for and use to calculate drive motor feedforward.
        -
        Returns:
        +
        Returns:
        SwerveModulePhysicalCharacteristics based on parsed data.
        -
        • -
      +
    • -
    -
    - + - diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 83a87de..06b7936 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,381 +1,208 @@ - - + SwerveDriveJson + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json
    -

    Class SwerveDriveJson

    +
    Package swervelib.parser.json
    +

    Class SwerveDriveJson

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.json.SwerveDriveJson
      +
      +
      -
      public class SwerveDriveJson
-extends Object
      +
      public class SwerveDriveJson +extends Object
      SwerveDrive JSON parsed class. Used to access parsed data from the swervedrive.json file.
      -
      • -
    -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          DeviceJsonimu +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          DeviceJson
          +
          imu
          +
          Robot IMU used to determine heading of the robot.
          -
          • booleaninvertedIMU + +
          boolean
          +
          invertedIMU
          +
          Invert the IMU of the robot.
          -
          doublemaxSpeed + +
          double
          +
          maxSpeed
          +
          Maximum robot speed in feet per second.
          -
          String[]modules + +
          String[]
          +
          modules
          +
          Module JSONs in order clockwise order starting from front left.
          -
          doubleoptimalVoltage + +
          double
          +
          optimalVoltage
          +
          Optimal voltage to compensate to and base feedforward calculations off of.
          -
          -
          • -
        +
    +
    + -
    -
      -
    • - - -

      Constructor Summary

      - - - - - - - - - - -
      Constructors 
      ConstructorDescription
      SwerveDriveJson() 
      -
      • -
    +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    SwerveDriveJson()
    +
     
    +
    +
    • -
    - +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    • -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Detail

          - - - -
            -
          • -

            maxSpeed

            -
            public double maxSpeed
            +
          • +
            +

            Field Details

            +
              +
            • +
              +

              maxSpeed

              +
              public double maxSpeed
              Maximum robot speed in feet per second.
              +
              • -
            - - - -
              -
            • -

              optimalVoltage

              -
              public double optimalVoltage
              +
            • +
              +

              optimalVoltage

              +
              public double optimalVoltage
              Optimal voltage to compensate to and base feedforward calculations off of.
              +
              • -
            - - - -
              -
            • -

              imu

              -
              public DeviceJson imu
              +
            • +
              +

              imu

              +
              public DeviceJson imu
              Robot IMU used to determine heading of the robot.
              +
              • -
            - - - -
              -
            • -

              invertedIMU

              -
              public boolean invertedIMU
              +
            • +
              +

              invertedIMU

              +
              public boolean invertedIMU
              Invert the IMU of the robot.
              +
              • -
            - - - -
              -
            • -

              modules

              -
              public String[] modules
              +
            • +
              +

              modules

              +
              public String[] modules
              Module JSONs in order clockwise order starting from front left.
              -
              • -
            +
        + -
        -
          -
        • - - -

          Constructor Detail

          - - - -
            -
          • -

            SwerveDriveJson

            -
            public SwerveDriveJson()
            -
            • -
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            SwerveDriveJson

            +
            public SwerveDriveJson()
            +
        -
    -
    - + - diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index 0c647b7..e81fef7 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,330 +1,172 @@ - - + BoolMotorJson + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json.modules
    -

    Class BoolMotorJson

    +
    Package swervelib.parser.json.modules
    +

    Class BoolMotorJson

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.json.modules.BoolMotorJson
      +
      +
      -
      public class BoolMotorJson
-extends Object
      +
      public class BoolMotorJson +extends Object
      Inverted motor JSON parsed class. Used to access the JSON data.
      -
      • -
    -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          booleanangle +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          boolean
          +
          angle
          +
          Angle motor inversion state.
          -
          • booleandrive + +
          boolean
          +
          drive
          +
          Drive motor inversion state.
          -
          -
          • -
        +
    +
    + -
    -
      -
    • - - -

      Constructor Summary

      - - - - - - - - - - -
      Constructors 
      ConstructorDescription
      BoolMotorJson() 
      -
      • -
    +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    BoolMotorJson()
    +
     
    +
    +
    • -
    - +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    • -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Detail

          - - - -
            -
          • -

            drive

            -
            public boolean drive
            +
          • +
            +

            Field Details

            +
              +
            • +
              +

              drive

              +
              public boolean drive
              Drive motor inversion state.
              +
              • -
            - - - -
              -
            • -

              angle

              -
              public boolean angle
              +
            • +
              +

              angle

              +
              public boolean angle
              Angle motor inversion state.
              -
              • -
            +
        + -
        -
          -
        • - - -

          Constructor Detail

          - - - -
            -
          • -

            BoolMotorJson

            -
            public BoolMotorJson()
            -
            • -
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            BoolMotorJson

            +
            public BoolMotorJson()
            +
        -
    -
    - + - diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index b8acbea..b59d162 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,331 +1,173 @@ - - + LocationJson + - + + + - + - - - - - + + - - -
    +
    + - +
    +
    -
    Package swervelib.parser.json.modules
    -

    Class LocationJson

    +
    Package swervelib.parser.json.modules
    +

    Class LocationJson

    -
    - -
    -
      -
    • +
      java.lang.Object +
      swervelib.parser.json.modules.LocationJson
      +
      +
      -
      public class LocationJson
-extends Object
      +
      public class LocationJson +extends Object
      Location JSON parsed class. Used to access the JSON data. Module locations, in inches, as distances to the center of the robot. Positive x is torwards the robot front, and * +y is torwards robot left.
      -
      • -
    -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Summary

          - - - - - - - - - - - - - - - - - -
          Fields 
          Modifier and TypeFieldDescription
          doublex +
        • +
          +

          Field Summary

          +
          Fields
          +
          +
          Modifier and Type
          +
          Field
          +
          Description
          +
          double
          +
          x
          +
          Location of the swerve module in inches from the center of the robot horizontally.
          -
          • doubley + +
          double
          +
          y
          +
          Location of the swerve module in inches from the center of the robot vertically.
          -
          -
          • -
        +
    +
    + -
    -
      -
    • - - -

      Constructor Summary

      - - - - - - - - - - -
      Constructors 
      ConstructorDescription
      LocationJson() 
      -
      • -
    +
  • +
    +

    Constructor Summary

    +
    Constructors
    +
    +
    Constructor
    +
    Description
    +
    LocationJson()
    +
     
    +
    +
    • -
    - +
  • +
    +

    Method Summary

    +
    +

    Methods inherited from class java.lang.Object

    +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    • -
    -
    -
      -
    • + +
      +
        -
        -
          -
        • - - -

          Field Detail

          - - - -
            -
          • -

            x

            -
            public double x
            +
          • +
            +

            Field Details

            +
              +
            • +
              +

              x

              +
              public double x
              Location of the swerve module in inches from the center of the robot horizontally.
              +
              • -
            - - - -
              -
            • -

              y

              -
              public double y
              +
            • +
              +

              y

              +
              public double y
              Location of the swerve module in inches from the center of the robot vertically.
              -
              • -
            +
        + -
        -
          -
        • - - -

          Constructor Detail

          - - - -
            -
          • -

            LocationJson

            -
            public LocationJson()
            -
            • -
          +
        • +
          +

          Constructor Details

          +
            +
          • +
            +

            LocationJson

            +
            public LocationJson()
            +
        -
    -
    - + - diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index 9c9702d..4aed5ee 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,173 +1,99 @@ - - + swervelib.parser.json.modules + - + + + - + - - - - - + + - - -
    +
    + +
    -

    Package swervelib.parser.json.modules

    +

    Package 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 2cedf92..478ac97 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,163 +1,72 @@ - - + swervelib.parser.json.modules Class Hierarchy + - + + + - + - - - - - + + - - -
    +
    + +

    Hierarchy For Package swervelib.parser.json.modules

    -Package Hierarchies: +Package Hierarchies:
    -
    -
    +

    Class Hierarchy

    -
    - diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index d0f1498..5c10706 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,209 +1,127 @@ - - + swervelib.parser.json + - + + + - + - - - - - + + - - -
    +
    + +
    -

    Package swervelib.parser.json

    +

    Package swervelib.parser.json

    -
    -
    +
    +
    -
    + -
    - -
    diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 50806f9..d1fde8e 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,169 +1,78 @@ - - + swervelib.parser.json Class Hierarchy + - + + + - + - - - - - + + - - -
    +
    + +

    Hierarchy For Package swervelib.parser.json

    -Package Hierarchies: +Package Hierarchies:
    -
    -
    +

    Class Hierarchy

    -
    - diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index 53312fe..3e332f5 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,197 +1,127 @@ - - + swervelib.parser + - + + + - + - - - - - + + - - -
    +
    + +
    -

    Package swervelib.parser

    +

    Package swervelib.parser

    -
    -
    +
    +
    -
    + -
    - -
    diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index ef2d9b4..1d13a4b 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,167 +1,76 @@ - - + swervelib.parser Class Hierarchy + - + + + - + - - - - - + + - - -
    +
    + +

    Hierarchy For Package swervelib.parser

    -Package Hierarchies: +Package Hierarchies:
    -
    -
    +

    Class Hierarchy

    -
    - diff --git a/docs/tag-search-index.js b/docs/tag-search-index.js new file mode 100644 index 0000000..f2a440c --- /dev/null +++ b/docs/tag-search-index.js @@ -0,0 +1 @@ +tagSearchIndex = [{"l":"Constant Field Values","h":"","u":"constant-values.html"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/type-search-index.js b/docs/type-search-index.js index 560a5d7..d690a39 100644 --- a/docs/type-search-index.js +++ b/docs/type-search-index.js @@ -1 +1 @@ -typeSearchIndex = [{"l":"All Classes","url":"allclasses-index.html"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.motors","l":"TalonSRXSwerve.CTRE_pidIdx"},{"p":"swervelib.motors","l":"TalonSRXSwerve.CTRE_remoteSensor"},{"p":"swervelib.motors","l":"TalonSRXSwerve.CTRE_slotIdx"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.math","l":"SwerveKinematics2"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.math","l":"SwerveModuleState2"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.motors","l":"TalonSRXSwerve"}] \ No newline at end of file +typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.motors","l":"TalonSRXSwerve.CTRE_pidIdx"},{"p":"swervelib.motors","l":"TalonSRXSwerve.CTRE_remoteSensor"},{"p":"swervelib.motors","l":"TalonSRXSwerve.CTRE_slotIdx"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.math","l":"SwerveKinematics2"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.math","l":"SwerveModuleState2"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.motors","l":"TalonSRXSwerve"}];updateSearchResults(); \ No newline at end of file diff --git a/swervelib/SwerveController.java b/swervelib/SwerveController.java index 9be36f6..b4b183f 100644 --- a/swervelib/SwerveController.java +++ b/swervelib/SwerveController.java @@ -28,6 +28,8 @@ public class SwerveController /** * Construct the SwerveController object which is used for determining the speeds of the robot based on controller * input. + * + * @param cfg {@link SwerveControllerConfiguration} containing the PIDF variables for the heading PIDF. */ public SwerveController(SwerveControllerConfiguration cfg) { @@ -53,6 +55,8 @@ public class SwerveController * * @param x The x value for the joystick in which the deadband should be applied. * @param y The y value for the joystick in which the deadband should be applied. + * @return Whether the values are within the deadband from + * {@link SwerveControllerConfiguration#angleJoyStickRadiusDeadband}. */ public boolean withinHypotDeadband(double x, double y) { diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index 3dad556..06e4399 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -5,6 +5,7 @@ import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; @@ -69,6 +70,10 @@ public class SwerveDrive * method. The drive() method incorporates kinematics— it takes a translation and rotation, as well as parameters for * field-centric and closed-loop velocity control. setModuleStates() takes a list of SwerveModuleStates and directly * passes them to the modules. This subsystem also handles odometry. + * + * @param config The {@link SwerveDriveConfiguration} configuration to base the swerve drive off of. + * @param controllerConfig The {@link SwerveControllerConfiguration} to use when creating the + * {@link SwerveController}. */ public SwerveDrive(SwerveDriveConfiguration config, SwerveControllerConfiguration controllerConfig) { @@ -302,7 +307,7 @@ public class SwerveDrive } /** - * Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped. + * Gets the current pitch angle of the robot, as reported by the imu. * * @return The heading as a {@link Rotation2d} angle */ @@ -316,7 +321,48 @@ public class SwerveDrive return Rotation2d.fromDegrees(swerveDriveConfiguration.invertedIMU ? 360 - ypr[1] : ypr[1]); } else { - return new Rotation2d(angle); + return new Rotation2d(); + } + } + + /** + * Gets the current roll angle of the robot, as reported by the imu. + * + * @return The heading as a {@link Rotation2d} angle + */ + public Rotation2d getRoll() + { + // Read the imu if the robot is real or the accumulator if the robot is simulated. + if (Robot.isReal()) + { + double[] ypr = new double[3]; + imu.getYawPitchRoll(ypr); + return Rotation2d.fromDegrees(swerveDriveConfiguration.invertedIMU ? 360 - ypr[1] : ypr[1]); + } else + { + return new Rotation2d(); + } + } + + /** + * Gets the current gyro Rotation3d of the robot, as reported by the imu. + * + * @return The heading as a {@link Rotation3d} angle + */ + public Rotation3d getGyroRotation3d() + { + // Read the imu if the robot is real or the accumulator if the robot is simulated. + if (Robot.isReal()) + { + double[] ypr = new double[3]; + imu.getYawPitchRoll(ypr); + return new Rotation3d( + Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[0] : ypr[0]), + Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[1] : ypr[1]), + Math.toRadians(swerveDriveConfiguration.invertedIMU ? 360 - ypr[2] : ypr[2])); + } else + { + return new Rotation3d(angle, 0, 0); } } @@ -405,4 +451,14 @@ public class SwerveDrive SmartDashboard.putNumberArray("moduleStates", moduleStates); } + /** + * Synchronize angle motor integrated encoders with data from absolute encoders. + */ + public void synchronizeModuleEncoders() + { + for (SwerveModule module : swerveModules) + { + module.synchronizeEncoders(); + } + } } diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index 2f55ca4..5f1d12a 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -210,6 +210,11 @@ public class SwerveModule return new SwerveModuleState2(velocity, azimuth, omega); } + /** + * Get the position of the swerve module. + * + * @return {@link SwerveModulePosition} of the swerve module. + */ public SwerveModulePosition getPosition() { double position; diff --git a/swervelib/imu/PigeonSwerve.java b/swervelib/imu/PigeonSwerve.java index 4f1330b..b4f2dae 100644 --- a/swervelib/imu/PigeonSwerve.java +++ b/swervelib/imu/PigeonSwerve.java @@ -9,6 +9,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; public class PigeonSwerve extends SwerveIMU { + /** + * Pigeon v1 IMU device. + */ WPI_PigeonIMU imu; /** diff --git a/swervelib/math/SwerveKinematics2.java b/swervelib/math/SwerveKinematics2.java index 182e8e2..8179af0 100644 --- a/swervelib/math/SwerveKinematics2.java +++ b/swervelib/math/SwerveKinematics2.java @@ -15,21 +15,39 @@ import org.ejml.simple.SimpleMatrix; /** * Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis - * speed. - *

    - *

    - * Makes use of {@link SwerveModuleState2} to add the angular velocity that is required of the module as an output. + * speed. Makes use of {@link SwerveModuleState2} to add the angular velocity that is required of the module as an + * output. */ public class SwerveKinematics2 extends SwerveDriveKinematics { - private final SimpleMatrix m_inverseKinematics; - private final SimpleMatrix m_forwardKinematics; - private final SimpleMatrix bigInverseKinematics; - + /** + * Inverse kinematics matrix. + */ + private final SimpleMatrix m_inverseKinematics; + /** + * Forward kinematics matrix. + */ + private final SimpleMatrix m_forwardKinematics; + /** + * Second order kinematics inverse matrix. + */ + private final SimpleMatrix bigInverseKinematics; + /** + * Number of swerve modules. + */ private final int m_numModules; + /** + * Location of each swerve module in meters. + */ private final Translation2d[] m_modules; + /** + * Swerve module states. + */ private final SwerveModuleState2[] m_moduleStates; + /** + * Previous CoR + */ private Translation2d m_prevCoR = new Translation2d(); /** diff --git a/swervelib/math/SwerveModuleState2.java b/swervelib/math/SwerveModuleState2.java index ecb6a4d..5e8d475 100644 --- a/swervelib/math/SwerveModuleState2.java +++ b/swervelib/math/SwerveModuleState2.java @@ -9,14 +9,18 @@ import edu.wpi.first.math.kinematics.SwerveModuleState; public class SwerveModuleState2 extends SwerveModuleState { - public double speedMetersPerSecond; - + /** + * Swerve module speed in meters per second. + */ + public double speedMetersPerSecond; /** * Rad per sec */ - public double omegaRadPerSecond = 0; - - public Rotation2d angle = Rotation2d.fromDegrees(0); + public double omegaRadPerSecond = 0; + /** + * Swerve module angle as a {@link Rotation2d}. + */ + public Rotation2d angle = Rotation2d.fromDegrees(0); /** * Constructs a SwerveModuleState with zeros for speed and angle. diff --git a/swervelib/motors/SparkMaxSwerve.java b/swervelib/motors/SparkMaxSwerve.java index 93d0b2a..9906732 100644 --- a/swervelib/motors/SparkMaxSwerve.java +++ b/swervelib/motors/SparkMaxSwerve.java @@ -335,6 +335,17 @@ public class SparkMaxSwerve extends SwerveMotor */ enum SparkMAX_slotIdx { - Position, Velocity, Simulation + /** + * Slot 1, used for position PID's. + */ + Position, + /** + * Slot 2, used for velocity PID's. + */ + Velocity, + /** + * Slot 3, used arbitrarily. (Documentation show simulations). + */ + Simulation } } diff --git a/swervelib/motors/SwerveMotor.java b/swervelib/motors/SwerveMotor.java index 71794df..542b5dc 100644 --- a/swervelib/motors/SwerveMotor.java +++ b/swervelib/motors/SwerveMotor.java @@ -28,6 +28,7 @@ public abstract class SwerveMotor * Set the absolute encoder to be a compatible absolute encoder. * * @param encoder The encoder to use. + * @return The {@link SwerveMotor} for single line configuration. */ public abstract SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder); diff --git a/swervelib/motors/TalonSRXSwerve.java b/swervelib/motors/TalonSRXSwerve.java index b6aa6bc..71317d3 100644 --- a/swervelib/motors/TalonSRXSwerve.java +++ b/swervelib/motors/TalonSRXSwerve.java @@ -20,7 +20,7 @@ public class TalonSRXSwerve extends SwerveMotor /** * Factory default already occurred. */ - private final boolean factoryDefaultOccurred = false; + private final boolean factoryDefaultOccurred = false; /** * TalonSRX motor controller. */ @@ -28,11 +28,11 @@ public class TalonSRXSwerve extends SwerveMotor /** * Whether the absolute encoder is integrated. */ - private boolean absoluteEncoder = false; + private boolean absoluteEncoder = false; /** * The position conversion factor. */ - private double positionConversionFactor = 1; + private double positionConversionFactor = 1; /** * Constructor for TalonSRX swerve motor. @@ -301,7 +301,22 @@ public class TalonSRXSwerve extends SwerveMotor */ enum CTRE_slotIdx { - Distance, Turning, Velocity, MotionProfile + /** + * Slot 0, meant for distances PID's. + */ + Distance, + /** + * Slot 1, meant for turning PID's. + */ + Turning, + /** + * Slot 2, meant for velocity PID's. + */ + Velocity, + /** + * Slot 3, meant for motion profiles. + */ + MotionProfile } /** @@ -309,7 +324,22 @@ public class TalonSRXSwerve extends SwerveMotor */ enum CTRE_pidIdx { - PRIMARY_PID, AUXILIARY_PID, THIRD_PID, FOURTH_PID + /** + * Primary PID for talons. + */ + PRIMARY_PID, + /** + * Secondary PID for talons. + */ + AUXILIARY_PID, + /** + * Third PID slot for talons. + */ + THIRD_PID, + /** + * Fourth PID slot for talons. + */ + FOURTH_PID } /** @@ -317,6 +347,13 @@ public class TalonSRXSwerve extends SwerveMotor */ enum CTRE_remoteSensor { - REMOTE_SENSOR_0, REMOTE_SENSOR_1 + /** + * Remote sensor 0. + */ + REMOTE_SENSOR_0, + /** + * Remote sensor 1. + */ + REMOTE_SENSOR_1 } } diff --git a/swervelib/parser/SwerveParser.java b/swervelib/parser/SwerveParser.java index 6d14239..2269307 100644 --- a/swervelib/parser/SwerveParser.java +++ b/swervelib/parser/SwerveParser.java @@ -20,6 +20,9 @@ import swervelib.parser.json.SwerveDriveJson; public class SwerveParser { + /** + * Module number mapped to the JSON name. + */ private static final HashMap moduleConfigs = new HashMap<>(); /** * Parsed swervedrive.json @@ -47,6 +50,7 @@ public class SwerveParser * Construct a swerve parser. Will throw an error if there is a missing file. * * @param directory Directory with swerve configurations. + * @throws IOException if a file doesn't exist. */ public SwerveParser(File directory) throws IOException {