Updated swervelib documentation and merged @7910f6ba7ee4 PR

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thenetworkgrinch
2023-02-14 22:03:02 -06:00
parent 154bee371a
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<h2 title="Class SwerveController" class="title">Class SwerveController</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib</a></div>
<h1 title="Class SwerveController" class="title">Class SwerveController</h1>
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<pre>public class <span class="typeNameLabel">SwerveController</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveController</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Controller class used to convert raw inputs into robot speeds.</div>
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<td class="colFirst"><code><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#config">config</a></span></code></th>
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<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
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<div class="col-first even-row-color"><code>final <a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></code></div>
<div class="col-second even-row-color"><code><a href="#config" class="member-name-link">config</a></code></div>
<div class="col-last even-row-color">
<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
robot heading, and deadband for heading joystick.</div>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#lastAngle">lastAngle</a></span></code></th>
<td class="colLast">
<div class="block">Last angle to robot was set to.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private edu.wpi.first.math.controller.PIDController</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#thetaController">thetaController</a></span></code></th>
<td class="colLast">
<div class="block">PID Controller for the robot heading.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(swervelib.parser.SwerveControllerConfiguration)">SwerveController</a></span>&#8203;(<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a>&nbsp;cfg)</code></th>
<td class="colLast">
<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
input.</div>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTargetSpeeds(double,double,double,double)">getTargetSpeeds</a></span>&#8203;(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;angle,
double&nbsp;currentHeadingAngleRadians)</code></th>
<td class="colLast">
<div class="block">Get the chassis speeds based on controller input of 1 joystick and a angle.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTargetSpeeds(double,double,double,double,double)">getTargetSpeeds</a></span>&#8203;(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;headingX,
double&nbsp;headingY,
double&nbsp;currentHeadingAngleRadians)</code></th>
<td class="colLast">
<div class="block">Get the chassis speeds based on controller input of 2 joysticks.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>static edu.wpi.first.math.geometry.Translation2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)">getTranslation2d</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;speeds)</code></th>
<td class="colLast">
<div class="block">Helper function to get the <code>Translation2d</code> of the chassis speeds given the <code>ChassisSpeeds</code>.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#withinHypotDeadband(double,double)">withinHypotDeadband</a></span>&#8203;(double&nbsp;x,
double&nbsp;y)</code></th>
<td class="colLast">
<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>config</h4>
<pre>public final&nbsp;<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a> config</pre>
<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
robot heading, and deadband for heading joystick.</div>
</li>
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<a id="thetaController">
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<h4>thetaController</h4>
<pre>private final&nbsp;edu.wpi.first.math.controller.PIDController thetaController</pre>
<div class="block">PID Controller for the robot heading.</div>
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<h4>lastAngle</h4>
<pre>public&nbsp;double lastAngle</pre>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#lastAngle" class="member-name-link">lastAngle</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Last angle to robot was set to.</div>
</li>
</ul>
</li>
</ul>
</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.math.controller.PIDController</code></div>
<div class="col-second even-row-color"><code><a href="#thetaController" class="member-name-link">thetaController</a></code></div>
<div class="col-last even-row-color">
<div class="block">PID Controller for the robot heading.</div>
</div>
</div>
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<h4>SwerveController</h4>
<pre>public&nbsp;SwerveController&#8203;(<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a>&nbsp;cfg)</pre>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<div class="col-last even-row-color">
<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
input.</div>
</div>
</div>
</section>
</li>
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<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getTargetSpeeds(double,double,double,double)" class="member-name-link">getTargetSpeeds</a><wbr>(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;angle,
double&nbsp;currentHeadingAngleRadians)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the chassis speeds based on controller input of 1 joystick and a angle.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getTargetSpeeds(double,double,double,double,double)" class="member-name-link">getTargetSpeeds</a><wbr>(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;headingX,
double&nbsp;headingY,
double&nbsp;currentHeadingAngleRadians)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the chassis speeds based on controller input of 2 joysticks.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">getTranslation2d</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;speeds)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Helper function to get the <code>Translation2d</code> of the chassis speeds given the <code>ChassisSpeeds</code>.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#withinHypotDeadband(double,double)" class="member-name-link">withinHypotDeadband</a><wbr>(double&nbsp;x,
double&nbsp;y)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="config">
<h3>config</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type"><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></span>&nbsp;<span class="element-name">config</span></div>
<div class="block"><a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object storing data to generate the <code>PIDController</code> for controlling the
robot heading, and deadband for heading joystick.</div>
</section>
</li>
<li>
<section class="detail" id="thetaController">
<h3>thetaController</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.controller.PIDController</span>&nbsp;<span class="element-name">thetaController</span></div>
<div class="block">PID Controller for the robot heading.</div>
</section>
</li>
<li>
<section class="detail" id="lastAngle">
<h3>lastAngle</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">lastAngle</span></div>
<div class="block">Last angle to robot was set to.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveControllerConfiguration)">
<h3>SwerveController</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveController</span><wbr><span class="parameters">(<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a>&nbsp;cfg)</span></div>
<div class="block">Construct the SwerveController object which is used for determining the speeds of the robot based on controller
input.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>cfg</code> - <a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> containing the PIDF variables for the heading PIDF.</dd>
</dl>
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<h3>Method Detail</h3>
<a id="getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>getTranslation2d</h4>
<pre class="methodSignature">public static&nbsp;edu.wpi.first.math.geometry.Translation2d&nbsp;getTranslation2d&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;speeds)</pre>
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds)">
<h3>getTranslation2d</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d</span>&nbsp;<span class="element-name">getTranslation2d</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;speeds)</span></div>
<div class="block">Helper function to get the <code>Translation2d</code> of the chassis speeds given the <code>ChassisSpeeds</code>.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>speeds</code> - Chassis speeds.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd><code>Translation2d</code> of the speed the robot is going in.</dd>
</dl>
</section>
</li>
</ul>
<a id="withinHypotDeadband(double,double)">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>withinHypotDeadband</h4>
<pre class="methodSignature">public&nbsp;boolean&nbsp;withinHypotDeadband&#8203;(double&nbsp;x,
double&nbsp;y)</pre>
<li>
<section class="detail" id="withinHypotDeadband(double,double)">
<h3>withinHypotDeadband</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">withinHypotDeadband</span><wbr><span class="parameters">(double&nbsp;x,
double&nbsp;y)</span></div>
<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>x</code> - The x value for the joystick in which the deadband should be applied.</dd>
<dd><code>y</code> - The y value for the joystick in which the deadband should be applied.</dd>
<dt>Returns:</dt>
<dd>Whether the values are within the deadband from
<a href="parser/SwerveControllerConfiguration.html#angleJoyStickRadiusDeadband"><code>SwerveControllerConfiguration.angleJoyStickRadiusDeadband</code></a>.</dd>
</dl>
</section>
</li>
</ul>
<a id="getTargetSpeeds(double,double,double,double)">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>getTargetSpeeds</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;getTargetSpeeds&#8203;(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;angle,
double&nbsp;currentHeadingAngleRadians)</pre>
<li>
<section class="detail" id="getTargetSpeeds(double,double,double,double)">
<h3>getTargetSpeeds</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">getTargetSpeeds</span><wbr><span class="parameters">(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;angle,
double&nbsp;currentHeadingAngleRadians)</span></div>
<div class="block">Get the chassis speeds based on controller input of 1 joystick and a angle.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>xInput</code> - X joystick input for the robot to move in the X direction.</dd>
<dd><code>yInput</code> - Y joystick input for the robot to move in the Y direction.</dd>
<dd><code>angle</code> - The desired angle of the robot in radians.</dd>
<dd><code>currentHeadingAngleRadians</code> - The current robot heading in radians.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd><code>ChassisSpeeds</code> which can be sent to th Swerve Drive.</dd>
</dl>
</section>
</li>
</ul>
<a id="getTargetSpeeds(double,double,double,double,double)">
<!-- -->
</a>
<ul class="blockListLast">
<li class="blockList">
<h4>getTargetSpeeds</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;getTargetSpeeds&#8203;(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;headingX,
double&nbsp;headingY,
double&nbsp;currentHeadingAngleRadians)</pre>
<li>
<section class="detail" id="getTargetSpeeds(double,double,double,double,double)">
<h3>getTargetSpeeds</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">getTargetSpeeds</span><wbr><span class="parameters">(double&nbsp;xInput,
double&nbsp;yInput,
double&nbsp;headingX,
double&nbsp;headingY,
double&nbsp;currentHeadingAngleRadians)</span></div>
<div class="block">Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which direction. The other for
the angle of the robot.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>xInput</code> - X joystick input for the robot to move in the X direction.</dd>
<dd><code>yInput</code> - Y joystick input for the robot to move in the Y direction.</dd>
<dd><code>headingX</code> - X joystick which controls the angle of the robot.</dd>
<dd><code>headingY</code> - Y joystick which controls the angle of the robot.</dd>
<dd><code>currentHeadingAngleRadians</code> - The current robot heading in radians.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd><code>ChassisSpeeds</code> which can be sent to th Swerve Drive.</dd>
</dl>
</li>
</ul>
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<h2 title="Class CANCoderSwerve" class="title">Class CANCoderSwerve</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.encoders</a></div>
<h1 title="Class CANCoderSwerve" class="title">Class CANCoderSwerve</h1>
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<pre>public class <span class="typeNameLabel">CANCoderSwerve</span>
extends <a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">CANCoderSwerve</span>
<span class="extends-implements">extends <a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span></div>
<div class="block">Swerve Absolute Encoder for CTRE CANCoders.</div>
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<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>com.ctre.phoenix.sensors.WPI_CANCoder</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
<td class="colLast">
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>com.ctre.phoenix.sensors.WPI_CANCoder</code></div>
<div class="col-second even-row-color"><code><a href="#encoder" class="member-name-link">encoder</a></code></div>
<div class="col-last even-row-color">
<div class="block">CANCoder with WPILib sendable and support.</div>
</td>
</tr>
</table>
</li>
</ul>
</section>
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<h3>Constructor Summary</h3>
<table class="memberSummary">
<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int)">CANCoderSwerve</a></span>&#8203;(int&nbsp;id)</code></th>
<td class="colLast">
<div class="block">Initialize the CANCoder on the standard CANBus.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,java.lang.String)">CANCoderSwerve</a></span>&#8203;(int&nbsp;id,
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;canbus)</code></th>
<td class="colLast">
<div class="block">Initialize the CANCoder on the CANivore.</div>
</td>
</tr>
</table>
</li>
</ul>
</section>
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<h3>Method Summary</h3>
<table class="memberSummary">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
<td class="colLast">
<div class="block">Clear sticky faults on the encoder.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure(boolean)">configure</a></span>&#8203;(boolean&nbsp;inverted)</code></th>
<td class="colLast">
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset the encoder to factory defaults.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsoluteEncoder()">getAbsoluteEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the instantiated absolute encoder Object.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the absolute position of the encoder.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h3>Field Detail</h3>
<a id="encoder">
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<h4>encoder</h4>
<pre>public&nbsp;com.ctre.phoenix.sensors.WPI_CANCoder encoder</pre>
<div class="block">CANCoder with WPILib sendable and support.</div>
</div>
</section>
</li>
</ul>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int)" class="member-name-link">CANCoderSwerve</a><wbr>(int&nbsp;id)</code></div>
<div class="col-last even-row-color">
<div class="block">Initialize the CANCoder on the standard CANBus.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(int,java.lang.String)" class="member-name-link">CANCoderSwerve</a><wbr>(int&nbsp;id,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;canbus)</code></div>
<div class="col-last odd-row-color">
<div class="block">Initialize the CANCoder on the CANivore.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Clear sticky faults on the encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configure(boolean)" class="member-name-link">configure</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset the encoder to factory defaults.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsoluteEncoder()" class="member-name-link">getAbsoluteEncoder</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated absolute encoder Object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsolutePosition()" class="member-name-link">getAbsolutePosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the absolute position of the encoder.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="encoder">
<h3>encoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">com.ctre.phoenix.sensors.WPI_CANCoder</span>&nbsp;<span class="element-name">encoder</span></div>
<div class="block">CANCoder with WPILib sendable and support.</div>
</section>
</li>
</ul>
</section>
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<a id="&lt;init&gt;(int)">
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<h4>CANCoderSwerve</h4>
<pre>public&nbsp;CANCoderSwerve&#8203;(int&nbsp;id)</pre>
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(int)">
<h3>CANCoderSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">CANCoderSwerve</span><wbr><span class="parameters">(int&nbsp;id)</span></div>
<div class="block">Initialize the CANCoder on the standard CANBus.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>id</code> - CAN ID.</dd>
</dl>
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<h4>CANCoderSwerve</h4>
<pre>public&nbsp;CANCoderSwerve&#8203;(int&nbsp;id,
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;canbus)</pre>
<li>
<section class="detail" id="&lt;init&gt;(int,java.lang.String)">
<h3>CANCoderSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">CANCoderSwerve</span><wbr><span class="parameters">(int&nbsp;id,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;canbus)</span></div>
<div class="block">Initialize the CANCoder on the CANivore.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>id</code> - CAN ID.</dd>
<dd><code>canbus</code> - CAN bus to initialize it on.</dd>
</dl>
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<h4>factoryDefault</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;factoryDefault()</pre>
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<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="factoryDefault()">
<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset the encoder to factory defaults.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
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<h4>clearStickyFaults</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;clearStickyFaults()</pre>
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<section class="detail" id="clearStickyFaults()">
<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on the encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
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<a id="configure(boolean)">
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<h4>configure</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configure&#8203;(boolean&nbsp;inverted)</pre>
<li>
<section class="detail" id="configure(boolean)">
<h3>configure</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configure</span><wbr><span class="parameters">(boolean&nbsp;inverted)</span></div>
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#configure(boolean)">configure</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>inverted</code> - Whether the encoder is inverted.</dd>
</dl>
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<h4>getAbsolutePosition</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getAbsolutePosition()</pre>
<li>
<section class="detail" id="getAbsolutePosition()">
<h3>getAbsolutePosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getAbsolutePosition</span>()</div>
<div class="block">Get the absolute position of the encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Absolute position in degrees from [0, 360).</dd>
</dl>
</section>
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<h4>getAbsoluteEncoder</h4>
<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;getAbsoluteEncoder()</pre>
<li>
<section class="detail" id="getAbsoluteEncoder()">
<h3>getAbsoluteEncoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getAbsoluteEncoder</span>()</div>
<div class="block">Get the instantiated absolute encoder Object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsoluteEncoder()">getAbsoluteEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Absolute encoder object.</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.encoders</a></div>
<h2 title="Class SparkMaxEncoderSwerve" class="title">Class SparkMaxEncoderSwerve</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.encoders</a></div>
<h1 title="Class SparkMaxEncoderSwerve" class="title">Class SparkMaxEncoderSwerve</h1>
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<li><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">swervelib.encoders.SwerveAbsoluteEncoder</a></li>
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<div class="inheritance">swervelib.encoders.SparkMaxEncoderSwerve</div>
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<pre>public class <span class="typeNameLabel">SparkMaxEncoderSwerve</span>
extends <a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SparkMaxEncoderSwerve</span>
<span class="extends-implements">extends <a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span></div>
<div class="block">SparkMax absolute encoder, attached through the data port.</div>
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<td class="colFirst"><code>com.revrobotics.AbsoluteEncoder</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
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<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
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<div class="col-first even-row-color"><code>com.revrobotics.AbsoluteEncoder</code></div>
<div class="col-second even-row-color"><code><a href="#encoder" class="member-name-link">encoder</a></code></div>
<div class="col-last even-row-color">
<div class="block">The <code>AbsoluteEncoder</code> representing the duty cycle encoder attached to the SparkMax.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor)">SparkMaxEncoderSwerve</a></span>&#8203;(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;motor)</code></th>
<td class="colLast">
<div class="block">Create the <code>AbsoluteEncoder</code> object as a duty cycle.</div>
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<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
<td class="colLast">
<div class="block">Clear sticky faults on the encoder.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure(boolean)">configure</a></span>&#8203;(boolean&nbsp;inverted)</code></th>
<td class="colLast">
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset the encoder to factory defaults.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsoluteEncoder()">getAbsoluteEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the instantiated absolute encoder Object.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the absolute position of the encoder.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>encoder</h4>
<pre>public&nbsp;com.revrobotics.AbsoluteEncoder encoder</pre>
<div class="block">The <code>AbsoluteEncoder</code> representing the duty cycle encoder attached to the SparkMax.</div>
</div>
</section>
</li>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor)" class="member-name-link">SparkMaxEncoderSwerve</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;motor)</code></div>
<div class="col-last even-row-color">
<div class="block">Create the <code>AbsoluteEncoder</code> object as a duty cycle.</div>
</div>
</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Clear sticky faults on the encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configure(boolean)" class="member-name-link">configure</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset the encoder to factory defaults.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsoluteEncoder()" class="member-name-link">getAbsoluteEncoder</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated absolute encoder Object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAbsolutePosition()" class="member-name-link">getAbsolutePosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the absolute position of the encoder.</div>
</div>
</div>
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<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
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<!-- ============ FIELD DETAIL =========== -->
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<li>
<section class="detail" id="encoder">
<h3>encoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">com.revrobotics.AbsoluteEncoder</span>&nbsp;<span class="element-name">encoder</span></div>
<div class="block">The <code>AbsoluteEncoder</code> representing the duty cycle encoder attached to the SparkMax.</div>
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<h4>SparkMaxEncoderSwerve</h4>
<pre>public&nbsp;SparkMaxEncoderSwerve&#8203;(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;motor)</pre>
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<h2>Constructor Details</h2>
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<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor)">
<h3>SparkMaxEncoderSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SparkMaxEncoderSwerve</span><wbr><span class="parameters">(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;motor)</span></div>
<div class="block">Create the <code>AbsoluteEncoder</code> object as a duty cycle. from the <code>CANSparkMax</code> motor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>motor</code> - Motor to create the encoder from.</dd>
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<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset the encoder to factory defaults.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
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<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on the encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
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<h4>configure</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;configure&#8203;(boolean&nbsp;inverted)</pre>
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<h3>configure</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configure</span><wbr><span class="parameters">(boolean&nbsp;inverted)</span></div>
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#configure(boolean)">configure</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>inverted</code> - Whether the encoder is inverted.</dd>
</dl>
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<a id="getAbsolutePosition()">
<!-- -->
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<h4>getAbsolutePosition</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getAbsolutePosition()</pre>
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<section class="detail" id="getAbsolutePosition()">
<h3>getAbsolutePosition</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getAbsolutePosition</span>()</div>
<div class="block">Get the absolute position of the encoder.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsolutePosition()">getAbsolutePosition</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Absolute position in degrees from [0, 360).</dd>
</dl>
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<a id="getAbsoluteEncoder()">
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<ul class="blockListLast">
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<h4>getAbsoluteEncoder</h4>
<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;getAbsoluteEncoder()</pre>
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<section class="detail" id="getAbsoluteEncoder()">
<h3>getAbsoluteEncoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getAbsoluteEncoder</span>()</div>
<div class="block">Get the instantiated absolute encoder Object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveAbsoluteEncoder.html#getAbsoluteEncoder()">getAbsoluteEncoder</a></code>&nbsp;in class&nbsp;<code><a href="SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Absolute encoder object.</dd>
</dl>
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<h2 title="Class SwerveAbsoluteEncoder" class="title">Class SwerveAbsoluteEncoder</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.encoders</a></div>
<h1 title="Class SwerveAbsoluteEncoder" class="title">Class SwerveAbsoluteEncoder</h1>
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<dt>Direct Known Subclasses:</dt>
<dd><code><a href="CANCoderSwerve.html" title="class in swervelib.encoders">CANCoderSwerve</a></code>, <code><a href="SparkMaxEncoderSwerve.html" title="class in swervelib.encoders">SparkMaxEncoderSwerve</a></code></dd>
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<pre>public abstract class <span class="typeNameLabel">SwerveAbsoluteEncoder</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public abstract class </span><span class="element-name type-name-label">SwerveAbsoluteEncoder</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..</div>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveAbsoluteEncoder</a></span>()</code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
<td class="colLast">
<div class="block">Clear sticky faults on the encoder.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configure(boolean)">configure</a></span>&#8203;(boolean&nbsp;inverted)</code></th>
<td class="colLast">
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset the encoder to factory defaults.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>abstract <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsoluteEncoder()">getAbsoluteEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the instantiated absolute encoder Object.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>abstract double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAbsolutePosition()">getAbsolutePosition</a></span>()</code></th>
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<div class="block">Get the absolute position of the encoder.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveAbsoluteEncoder</a>()</code></div>
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<pre>public&nbsp;SwerveAbsoluteEncoder()</pre>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Clear sticky faults on the encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#configure(boolean)" class="member-name-link">configure</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Reset the encoder to factory defaults.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getAbsoluteEncoder()" class="member-name-link">getAbsoluteEncoder</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Get the instantiated absolute encoder Object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getAbsolutePosition()" class="member-name-link">getAbsolutePosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Get the absolute position of the encoder.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<h3>SwerveAbsoluteEncoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveAbsoluteEncoder</span>()</div>
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<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset the encoder to factory defaults.</div>
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<h4>clearStickyFaults</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;clearStickyFaults()</pre>
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<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on the encoder.</div>
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<h4>configure</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;configure&#8203;(boolean&nbsp;inverted)</pre>
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<h3>configure</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configure</span><wbr><span class="parameters">(boolean&nbsp;inverted)</span></div>
<div class="block">Configure the absolute encoder to read from [0, 360) per second.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>inverted</code> - Whether the encoder is inverted.</dd>
</dl>
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<h4>getAbsolutePosition</h4>
<pre class="methodSignature">public abstract&nbsp;double&nbsp;getAbsolutePosition()</pre>
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<h3>getAbsolutePosition</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getAbsolutePosition</span>()</div>
<div class="block">Get the absolute position of the encoder.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dl class="notes">
<dt>Returns:</dt>
<dd>Absolute position in degrees from [0, 360).</dd>
</dl>
</section>
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<h4>getAbsoluteEncoder</h4>
<pre class="methodSignature">public abstract&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;getAbsoluteEncoder()</pre>
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<h3>getAbsoluteEncoder</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getAbsoluteEncoder</span>()</div>
<div class="block">Get the instantiated absolute encoder Object.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dl class="notes">
<dt>Returns:</dt>
<dd>Absolute encoder object.</dd>
</dl>
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<h1 title="Package" class="title">Package&nbsp;swervelib.encoders</h1>
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<div class="block">Swerve Absolute Encoder for CTRE CANCoders.</div>
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<div class="block">Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..</div>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h2 title="Class NavXSwerve" class="title">Class NavXSwerve</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h1 title="Class NavXSwerve" class="title">Class NavXSwerve</h1>
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<li><a href="SwerveIMU.html" title="class in swervelib.imu">swervelib.imu.SwerveIMU</a></li>
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<hr>
<pre>public class <span class="typeNameLabel">NavXSwerve</span>
extends <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">NavXSwerve</span>
<span class="extends-implements">extends <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span></div>
<div class="block">Communicates with the NavX as the IMU.</div>
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<td class="colFirst"><code>private com.kauailabs.navx.frc.AHRS</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#gyro">gyro</a></span></code></th>
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<div class="col-first even-row-color"><code>private com.kauailabs.navx.frc.AHRS</code></div>
<div class="col-second even-row-color"><code><a href="#gyro" class="member-name-link">gyro</a></code></div>
<div class="col-last even-row-color">
<div class="block">NavX IMU.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#yawOffset">yawOffset</a></span></code></th>
<td class="colLast">
<div class="block">Offset for the NavX yaw reading.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">NavXSwerve</a></span>()</code></th>
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<div class="block">Constructor for the NavX swerve.</div>
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<h3>Method Summary</h3>
<table class="memberSummary">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
<td class="colLast">
<div class="block">Clear sticky faults on IMU.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset IMU to factory default.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getIMU()">getIMU</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the instantiated IMU object.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></span>&#8203;(double[]&nbsp;yprArray)</code></th>
<td class="colLast">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setYaw(double)">setYaw</a></span>&#8203;(double&nbsp;yaw)</code></th>
<td class="colLast">
<div class="block">Set the yaw in degrees.</div>
</td>
</tr>
</table>
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<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
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</a>
<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
</ul>
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</ul>
</section>
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<!-- ============ FIELD DETAIL =========== -->
<section>
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<h3>Field Detail</h3>
<a id="gyro">
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<h4>gyro</h4>
<pre>private&nbsp;com.kauailabs.navx.frc.AHRS gyro</pre>
<div class="block">NavX IMU.</div>
</li>
</ul>
<a id="yawOffset">
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</a>
<ul class="blockListLast">
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<h4>yawOffset</h4>
<pre>private&nbsp;double yawOffset</pre>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#yawOffset" class="member-name-link">yawOffset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the NavX yaw reading.</div>
</li>
</ul>
</li>
</ul>
</div>
</div>
</section>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<section>
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<li class="blockList"><a id="constructor.detail">
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<h3>Constructor Detail</h3>
<a id="&lt;init&gt;()">
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<h4>NavXSwerve</h4>
<pre>public&nbsp;NavXSwerve()</pre>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">NavXSwerve</a>()</code></div>
<div class="col-last even-row-color">
<div class="block">Constructor for the NavX swerve.</div>
</div>
</div>
</section>
</li>
</ul>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Clear sticky faults on IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the yaw in degrees.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="gyro">
<h3>gyro</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">com.kauailabs.navx.frc.AHRS</span>&nbsp;<span class="element-name">gyro</span></div>
<div class="block">NavX IMU.</div>
</section>
</li>
<li>
<section class="detail" id="yawOffset">
<h3>yawOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">yawOffset</span></div>
<div class="block">Offset for the NavX yaw reading.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>NavXSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">NavXSwerve</span>()</div>
<div class="block">Constructor for the NavX swerve.</div>
</section>
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</section>
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<h3>Method Detail</h3>
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<h4>factoryDefault</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;factoryDefault()</pre>
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<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="factoryDefault()">
<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset IMU to factory default.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
</dl>
</section>
</li>
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<a id="clearStickyFaults()">
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<h4>clearStickyFaults</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;clearStickyFaults()</pre>
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<section class="detail" id="clearStickyFaults()">
<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on IMU.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
</dl>
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<a id="setYaw(double)">
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<h4>setYaw</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setYaw&#8203;(double&nbsp;yaw)</pre>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
</dl>
</section>
</li>
</ul>
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<h4>getYawPitchRoll</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;getYawPitchRoll&#8203;(double[]&nbsp;yprArray)</pre>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
</dl>
</section>
</li>
</ul>
<a id="getIMU()">
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<h4>getIMU</h4>
<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;getIMU()</pre>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>
<div class="block">Get the instantiated IMU object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getIMU()">getIMU</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>IMU object.</dd>
</dl>
</li>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h2 title="Class Pigeon2Swerve" class="title">Class Pigeon2Swerve</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h1 title="Class Pigeon2Swerve" class="title">Class Pigeon2Swerve</h1>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<li><a href="SwerveIMU.html" title="class in swervelib.imu">swervelib.imu.SwerveIMU</a></li>
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<li>swervelib.imu.Pigeon2Swerve</li>
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<div class="inheritance"><a href="SwerveIMU.html" title="class in swervelib.imu">swervelib.imu.SwerveIMU</a>
<div class="inheritance">swervelib.imu.Pigeon2Swerve</div>
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<pre>public class <span class="typeNameLabel">Pigeon2Swerve</span>
extends <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">Pigeon2Swerve</span>
<span class="extends-implements">extends <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span></div>
<div class="block">SwerveIMU interface for the Pigeon2</div>
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<td class="colFirst"><code>(package private) com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
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<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
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<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
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<div class="col-first even-row-color"><code>(package private) com.ctre.phoenix.sensors.WPI_Pigeon2</code></div>
<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
<div class="col-last even-row-color">
<div class="block">Pigeon2 IMU device.</div>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int)">Pigeon2Swerve</a></span>&#8203;(int&nbsp;canid)</code></th>
<td class="colLast">
<div class="block">Generate the SwerveIMU for pigeon.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,java.lang.String)">Pigeon2Swerve</a></span>&#8203;(int&nbsp;canid,
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;canbus)</code></th>
<td class="colLast">
<div class="block">Generate the SwerveIMU for pigeon.</div>
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<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
<td class="colLast">
<div class="block">Clear sticky faults on IMU.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset IMU to factory default.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getIMU()">getIMU</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the instantiated IMU object.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></span>&#8203;(double[]&nbsp;yprArray)</code></th>
<td class="colLast">
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setYaw(double)">setYaw</a></span>&#8203;(double&nbsp;yaw)</code></th>
<td class="colLast">
<div class="block">Set the yaw in degrees.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<a id="imu">
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<h4>imu</h4>
<pre>com.ctre.phoenix.sensors.WPI_Pigeon2 imu</pre>
<div class="block">Pigeon2 IMU device.</div>
</div>
</section>
</li>
</ul>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int)" class="member-name-link">Pigeon2Swerve</a><wbr>(int&nbsp;canid)</code></div>
<div class="col-last even-row-color">
<div class="block">Generate the SwerveIMU for pigeon.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(int,java.lang.String)" class="member-name-link">Pigeon2Swerve</a><wbr>(int&nbsp;canid,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;canbus)</code></div>
<div class="col-last odd-row-color">
<div class="block">Generate the SwerveIMU for pigeon.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
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<h2>Method Summary</h2>
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Clear sticky faults on IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the yaw in degrees.</div>
</div>
</div>
</div>
</div>
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<section class="details">
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<!-- ============ FIELD DETAIL =========== -->
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<h2>Field Details</h2>
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<section class="detail" id="imu">
<h3>imu</h3>
<div class="member-signature"><span class="return-type">com.ctre.phoenix.sensors.WPI_Pigeon2</span>&nbsp;<span class="element-name">imu</span></div>
<div class="block">Pigeon2 IMU device.</div>
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<h4>Pigeon2Swerve</h4>
<pre>public&nbsp;Pigeon2Swerve&#8203;(int&nbsp;canid,
<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;canbus)</pre>
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<h3>Pigeon2Swerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">Pigeon2Swerve</span><wbr><span class="parameters">(int&nbsp;canid,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;canbus)</span></div>
<div class="block">Generate the SwerveIMU for pigeon.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>canid</code> - CAN ID for the pigeon</dd>
<dd><code>canbus</code> - CAN Bus name the pigeon resides on.</dd>
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<pre>public&nbsp;Pigeon2Swerve&#8203;(int&nbsp;canid)</pre>
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<h3>Pigeon2Swerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">Pigeon2Swerve</span><wbr><span class="parameters">(int&nbsp;canid)</span></div>
<div class="block">Generate the SwerveIMU for pigeon.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>canid</code> - CAN ID for the pigeon</dd>
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<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset IMU to factory default.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
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<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on IMU.</div>
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<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
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<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
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<pre class="methodSignature">public&nbsp;void&nbsp;setYaw&#8203;(double&nbsp;yaw)</pre>
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<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
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<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
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<pre class="methodSignature">public&nbsp;void&nbsp;getYawPitchRoll&#8203;(double[]&nbsp;yprArray)</pre>
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<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
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<h4>getIMU</h4>
<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;getIMU()</pre>
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<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>
<div class="block">Get the instantiated IMU object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getIMU()">getIMU</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>IMU object.</dd>
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<pre>public class <span class="typeNameLabel">PigeonSwerve</span>
extends <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">PigeonSwerve</span>
<span class="extends-implements">extends <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span></div>
<div class="block">SwerveIMU interface for the Pigeon.</div>
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<td class="colFirst"><code>(package private) com.ctre.phoenix.sensors.WPI_PigeonIMU</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int)">PigeonSwerve</a></span>&#8203;(int&nbsp;canid)</code></th>
<td class="colLast">
<div class="block">Generate the SwerveIMU for pigeon.</div>
</td>
</tr>
</table>
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</ul>
</section>
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<h3>Method Summary</h3>
<table class="memberSummary">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
<td class="colLast">
<div class="block">Clear sticky faults on IMU.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset IMU to factory default.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getIMU()">getIMU</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the instantiated IMU object.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></span>&#8203;(double[]&nbsp;yprArray)</code></th>
<td class="colLast">
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setYaw(double)">setYaw</a></span>&#8203;(double&nbsp;yaw)</code></th>
<td class="colLast">
<div class="block">Set the yaw in degrees.</div>
</td>
</tr>
</table>
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</a>
<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
</ul>
</li>
</ul>
</section>
</li>
</ul>
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>(package private) com.ctre.phoenix.sensors.WPI_PigeonIMU</code></div>
<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
<div class="col-last even-row-color">
<div class="block">Pigeon v1 IMU device.</div>
</div>
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<h3>Field Detail</h3>
<a id="imu">
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<h4>imu</h4>
<pre>com.ctre.phoenix.sensors.WPI_PigeonIMU imu</pre>
</div>
</section>
</li>
</ul>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int)" class="member-name-link">PigeonSwerve</a><wbr>(int&nbsp;canid)</code></div>
<div class="col-last even-row-color">
<div class="block">Generate the SwerveIMU for pigeon.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Clear sticky faults on IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the yaw in degrees.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="imu">
<h3>imu</h3>
<div class="member-signature"><span class="return-type">com.ctre.phoenix.sensors.WPI_PigeonIMU</span>&nbsp;<span class="element-name">imu</span></div>
<div class="block">Pigeon v1 IMU device.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="constructor.detail">
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<h3>Constructor Detail</h3>
<a id="&lt;init&gt;(int)">
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<li class="blockList">
<h4>PigeonSwerve</h4>
<pre>public&nbsp;PigeonSwerve&#8203;(int&nbsp;canid)</pre>
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(int)">
<h3>PigeonSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PigeonSwerve</span><wbr><span class="parameters">(int&nbsp;canid)</span></div>
<div class="block">Generate the SwerveIMU for pigeon.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>canid</code> - CAN ID for the pigeon, does not support CANBus.</dd>
</dl>
</li>
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</section>
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<h4>factoryDefault</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;factoryDefault()</pre>
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<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="factoryDefault()">
<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset IMU to factory default.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
</dl>
</section>
</li>
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<a id="clearStickyFaults()">
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<h4>clearStickyFaults</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;clearStickyFaults()</pre>
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<section class="detail" id="clearStickyFaults()">
<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on IMU.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
</dl>
</section>
</li>
</ul>
<a id="setYaw(double)">
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<h4>setYaw</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;setYaw&#8203;(double&nbsp;yaw)</pre>
<li>
<section class="detail" id="setYaw(double)">
<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setYaw(double)">setYaw</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>yaw</code> - Angle in degrees.</dd>
</dl>
</section>
</li>
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<a id="getYawPitchRoll(double[])">
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<h4>getYawPitchRoll</h4>
<pre class="methodSignature">public&nbsp;void&nbsp;getYawPitchRoll&#8203;(double[]&nbsp;yprArray)</pre>
<li>
<section class="detail" id="getYawPitchRoll(double[])">
<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
</dl>
</section>
</li>
</ul>
<a id="getIMU()">
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<h4>getIMU</h4>
<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;getIMU()</pre>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>
<div class="block">Get the instantiated IMU object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getIMU()">getIMU</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>IMU object.</dd>
</dl>
</li>
</ul>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h2 title="Class SwerveIMU" class="title">Class SwerveIMU</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h1 title="Class SwerveIMU" class="title">Class SwerveIMU</h1>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<div class="inheritance">swervelib.imu.SwerveIMU</div>
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<dt>Direct Known Subclasses:</dt>
<dd><code><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></code>, <code><a href="Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></code>, <code><a href="PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></code></dd>
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<pre>public abstract class <span class="typeNameLabel">SwerveIMU</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public abstract class </span><span class="element-name type-name-label">SwerveIMU</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Swerve IMU abstraction to define a standard interface with a swerve drive.</div>
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<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveIMU</a></span>()</code></th>
<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<tr id="i0" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#clearStickyFaults()">clearStickyFaults</a></span>()</code></th>
<td class="colLast">
<div class="block">Clear sticky faults on IMU.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#factoryDefault()">factoryDefault</a></span>()</code></th>
<td class="colLast">
<div class="block">Reset IMU to factory default.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>abstract <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getIMU()">getIMU</a></span>()</code></th>
<td class="colLast">
<div class="block">Get the instantiated IMU object.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getYawPitchRoll(double%5B%5D)">getYawPitchRoll</a></span>&#8203;(double[]&nbsp;yprArray)</code></th>
<td class="colLast">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>abstract void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setYaw(double)">setYaw</a></span>&#8203;(double&nbsp;yaw)</code></th>
<td class="colLast">
<div class="block">Set the yaw in degrees.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
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<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveIMU</a>()</code></div>
<div class="col-last even-row-color">&nbsp;</div>
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<h4>SwerveIMU</h4>
<pre>public&nbsp;SwerveIMU()</pre>
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<h2>Method Summary</h2>
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab3" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab3', 3)" class="table-tab">Abstract Methods</button></div>
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<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Clear sticky faults on IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#getYawPitchRoll(double%5B%5D)" class="member-name-link">getYawPitchRoll</a><wbr>(double[]&nbsp;yprArray)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#setYaw(double)" class="member-name-link">setYaw</a><wbr>(double&nbsp;yaw)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Set the yaw in degrees.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<h3>SwerveIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveIMU</span>()</div>
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<pre class="methodSignature">public abstract&nbsp;void&nbsp;factoryDefault()</pre>
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<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset IMU to factory default.</div>
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<h4>clearStickyFaults</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;clearStickyFaults()</pre>
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<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on IMU.</div>
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<h4>setYaw</h4>
<pre class="methodSignature">public abstract&nbsp;void&nbsp;setYaw&#8203;(double&nbsp;yaw)</pre>
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<h3>setYaw</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setYaw</span><wbr><span class="parameters">(double&nbsp;yaw)</span></div>
<div class="block">Set the yaw in degrees.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>yaw</code> - Yaw angle in degrees.</dd>
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<pre class="methodSignature">public abstract&nbsp;void&nbsp;getYawPitchRoll&#8203;(double[]&nbsp;yprArray)</pre>
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<h3>getYawPitchRoll</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">getYawPitchRoll</span><wbr><span class="parameters">(double[]&nbsp;yprArray)</span></div>
<div class="block">Fetch the yaw/pitch/roll from the IMU.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
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<dt>Parameters:</dt>
<dd><code>yprArray</code> - Array which will be filled with {yaw, pitch, roll} in degrees.</dd>
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<pre class="methodSignature">public abstract&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;getIMU()</pre>
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<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>
<div class="block">Get the instantiated IMU object.</div>
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<dt>Returns:</dt>
<dd>IMU object.</dd>
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<h1 title="Package" class="title">Package&nbsp;swervelib.imu</h1>
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<th class="colFirst" scope="row"><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></th>
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<div class="col-first even-row-color"><a href="../package-summary.html">swervelib</a></div>
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<div class="block">Communicates with the NavX as the IMU.</div>
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<div class="block">Swerve IMU abstraction to define a standard interface with a swerve drive.</div>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.math</a></div>
<h2 title="Class SwerveKinematics2" class="title">Class SwerveKinematics2</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.math</a></div>
<h1 title="Class SwerveKinematics2" class="title">Class SwerveKinematics2</h1>
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<ul class="inheritance">
<li>edu.wpi.first.math.kinematics.SwerveDriveKinematics</li>
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<li>swervelib.math.SwerveKinematics2</li>
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<div class="inheritance">edu.wpi.first.math.kinematics.SwerveDriveKinematics
<div class="inheritance">swervelib.math.SwerveKinematics2</div>
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<pre>public class <span class="typeNameLabel">SwerveKinematics2</span>
extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveKinematics2</span>
<span class="extends-implements">extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</span></div>
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed.
<p></p>
<p>
Makes use of <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to add the angular velocity that is required of the module as an output.</div>
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<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#bigInverseKinematics">bigInverseKinematics</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_forwardKinematics">m_forwardKinematics</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverseKinematics">m_inverseKinematics</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_modules">m_modules</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleStates">m_moduleStates</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>private int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_numModules">m_numModules</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_prevCoR">m_prevCoR</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<h2>Field Summary</h2>
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<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
<div class="col-second even-row-color"><code><a href="#bigInverseKinematics" class="member-name-link">bigInverseKinematics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Second order kinematics inverse matrix.</div>
</div>
<div class="col-first odd-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
<div class="col-second odd-row-color"><code><a href="#m_forwardKinematics" class="member-name-link">m_forwardKinematics</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Forward kinematics matrix.</div>
</div>
<div class="col-first even-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
<div class="col-second even-row-color"><code><a href="#m_inverseKinematics" class="member-name-link">m_inverseKinematics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Inverse kinematics matrix.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.geometry.Translation2d[]</code></div>
<div class="col-second odd-row-color"><code><a href="#m_modules" class="member-name-link">m_modules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Location of each swerve module in meters.</div>
</div>
<div class="col-first even-row-color"><code>private final <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-second even-row-color"><code><a href="#m_moduleStates" class="member-name-link">m_moduleStates</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve module states.</div>
</div>
<div class="col-first odd-row-color"><code>private final int</code></div>
<div class="col-second odd-row-color"><code><a href="#m_numModules" class="member-name-link">m_numModules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Number of swerve modules.</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color"><code><a href="#m_prevCoR" class="member-name-link">m_prevCoR</a></code></div>
<div class="col-last even-row-color">
<div class="block">Previous CoR</div>
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</div>
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<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)">SwerveKinematics2</a></span>&#8203;(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</code></th>
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<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
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<div class="table-header col-first">Constructor</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)" class="member-name-link">SwerveKinematics2</a><wbr>(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</code></div>
<div class="col-last even-row-color">
<div class="block">Constructs a swerve drive kinematics object.</div>
</td>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds</a></span>&#8203;(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
double&nbsp;attainableMaxSpeedMetersPerSecond)</code></th>
<td class="colLast">
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<h2>Method Summary</h2>
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)" class="member-name-link">desaturateWheelSpeeds</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
double&nbsp;attainableMaxSpeedMetersPerSecond)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds</a></span>&#8203;(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;currentChassisSpeed,
double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)" class="member-name-link">desaturateWheelSpeeds</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;currentChassisSpeed,
double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
joystick saturation at edges of joystick.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toChassisSpeeds(swervelib.math.SwerveModuleState2...)">toChassisSpeeds</a></span>&#8203;(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>...&nbsp;wheelStates)</code></th>
<td class="colLast">
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">toSwerveModuleStates</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></th>
<td class="colLast">
<div class="block">Performs inverse kinematics.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">toSwerveModuleStates</a></span>&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</code></th>
<td class="colLast">
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>edu.wpi.first.math.geometry.Twist2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">toTwist2d</a></span>&#8203;(edu.wpi.first.math.kinematics.SwerveModulePosition...&nbsp;wheelDeltas)</code></th>
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<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
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<h3>Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></li>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<a id="m_inverseKinematics">
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<h4>m_inverseKinematics</h4>
<pre>private final&nbsp;org.ejml.simple.SimpleMatrix m_inverseKinematics</pre>
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<pre>private final&nbsp;org.ejml.simple.SimpleMatrix m_forwardKinematics</pre>
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<pre>private final&nbsp;org.ejml.simple.SimpleMatrix bigInverseKinematics</pre>
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<pre>private final&nbsp;int m_numModules</pre>
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<pre>private final&nbsp;edu.wpi.first.math.geometry.Translation2d[] m_modules</pre>
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<pre>private final&nbsp;<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] m_moduleStates</pre>
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<pre>private&nbsp;edu.wpi.first.math.geometry.Translation2d m_prevCoR</pre>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toChassisSpeeds(swervelib.math.SwerveModuleState2...)" class="member-name-link">toChassisSpeeds</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>...&nbsp;wheelStates)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">toSwerveModuleStates</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Performs inverse kinematics.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">toSwerveModuleStates</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Twist2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)" class="member-name-link">toTwist2d</a><wbr>(edu.wpi.first.math.kinematics.SwerveModulePosition...&nbsp;wheelDeltas)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveDriveKinematics">Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
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</section>
<section class="details">
<ul class="details-list">
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<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="m_inverseKinematics">
<h3>m_inverseKinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">org.ejml.simple.SimpleMatrix</span>&nbsp;<span class="element-name">m_inverseKinematics</span></div>
<div class="block">Inverse kinematics matrix.</div>
</section>
</li>
<li>
<section class="detail" id="m_forwardKinematics">
<h3>m_forwardKinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">org.ejml.simple.SimpleMatrix</span>&nbsp;<span class="element-name">m_forwardKinematics</span></div>
<div class="block">Forward kinematics matrix.</div>
</section>
</li>
<li>
<section class="detail" id="bigInverseKinematics">
<h3>bigInverseKinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">org.ejml.simple.SimpleMatrix</span>&nbsp;<span class="element-name">bigInverseKinematics</span></div>
<div class="block">Second order kinematics inverse matrix.</div>
</section>
</li>
<li>
<section class="detail" id="m_numModules">
<h3>m_numModules</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">m_numModules</span></div>
<div class="block">Number of swerve modules.</div>
</section>
</li>
<li>
<section class="detail" id="m_modules">
<h3>m_modules</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d[]</span>&nbsp;<span class="element-name">m_modules</span></div>
<div class="block">Location of each swerve module in meters.</div>
</section>
</li>
<li>
<section class="detail" id="m_moduleStates">
<h3>m_moduleStates</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">m_moduleStates</span></div>
<div class="block">Swerve module states.</div>
</section>
</li>
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<section class="detail" id="m_prevCoR">
<h3>m_prevCoR</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d</span>&nbsp;<span class="element-name">m_prevCoR</span></div>
<div class="block">Previous CoR</div>
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<h4>SwerveKinematics2</h4>
<pre>public&nbsp;SwerveKinematics2&#8203;(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</pre>
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<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d...)">
<h3>SwerveKinematics2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveKinematics2</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</span></div>
<div class="block">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.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>wheelsMeters</code> - The locations of the wheels relative to the physical center of the robot.</dd>
</dl>
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<a id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],double)">
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<h4>desaturateWheelSpeeds</h4>
<pre class="methodSignature">public static&nbsp;void&nbsp;desaturateWheelSpeeds&#8203;(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
double&nbsp;attainableMaxSpeedMetersPerSecond)</pre>
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],double)">
<h3>desaturateWheelSpeeds</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">desaturateWheelSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
double&nbsp;attainableMaxSpeedMetersPerSecond)</span></div>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
maintaining the ratio of speeds between modules.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleStates</code> - Reference to array of module states. The array will be mutated with the
normalized speeds!</dd>
<dd><code>attainableMaxSpeedMetersPerSecond</code> - The absolute max speed that a module can reach.</dd>
</dl>
</section>
</li>
</ul>
<a id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
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<h4>desaturateWheelSpeeds</h4>
<pre class="methodSignature">public static&nbsp;void&nbsp;desaturateWheelSpeeds&#8203;(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;currentChassisSpeed,
double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</pre>
<li>
<section class="detail" id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
<h3>desaturateWheelSpeeds</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">desaturateWheelSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;moduleStates,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;currentChassisSpeed,
double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</span></div>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
joystick saturation at edges of joystick.
@@ -460,8 +329,8 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
maintaining the ratio of speeds between modules.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleStates</code> - Reference to array of module states. The array will be
mutated with the normalized speeds!</dd>
<dd><code>currentChassisSpeed</code> - The current speed of the robot</dd>
@@ -470,16 +339,13 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
translating</dd>
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating</dd>
</dl>
</section>
</li>
</ul>
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
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<h4>toSwerveModuleStates</h4>
<pre class="methodSignature">public&nbsp;<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;toSwerveModuleStates&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</pre>
<li>
<section class="detail" id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
<h3>toSwerveModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">toSwerveModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</span></div>
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used
to convert joystick values into module speeds and angles.
@@ -490,150 +356,81 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
<p>In the case that the desired chassis speeds are zero (i.e. the robot will be stationary),
the previously calculated module angle will be maintained.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>toSwerveModuleStates</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one corner
of the robot and provide a chassis speed that only has a dtheta component, the robot
will rotate around that corner.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>An array containing the module states. Use caution because these module states are not normalized.
Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the
<a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)"><code>DesaturateWheelSpeeds</code></a> function to rectify this issue.</dd>
</dl>
</section>
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<h4>toSwerveModuleStates</h4>
<pre class="methodSignature">public&nbsp;<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;toSwerveModuleStates&#8203;(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</pre>
<li>
<section class="detail" id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">
<h3>toSwerveModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">toSwerveModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</span></div>
<div class="block">Performs inverse kinematics. See <a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"><code>toSwerveModuleStates(ChassisSpeeds, Translation2d)</code></a> toSwerveModuleStates
for more information.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>toSwerveModuleStates</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>An array containing the module states.</dd>
</dl>
</section>
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<h4>toChassisSpeeds</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;toChassisSpeeds&#8203;(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>...&nbsp;wheelStates)</pre>
<li>
<section class="detail" id="toChassisSpeeds(swervelib.math.SwerveModuleState2...)">
<h3>toChassisSpeeds</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">toChassisSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>...&nbsp;wheelStates)</span></div>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
angle of each module on the robot.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>wheelStates</code> - The state of the modules (as a SwerveModuleState type) as measured from respective encoders and
gyros. The order of the swerve module states should be same as passed into the constructor of
this class.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>The resulting chassis speed.</dd>
</dl>
</section>
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<h4>toTwist2d</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.geometry.Twist2d&nbsp;toTwist2d&#8203;(edu.wpi.first.math.kinematics.SwerveModulePosition...&nbsp;wheelDeltas)</pre>
<li>
<section class="detail" id="toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">
<h3>toTwist2d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Twist2d</span>&nbsp;<span class="element-name">toTwist2d</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModulePosition...&nbsp;wheelDeltas)</span></div>
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
angle of each module on the robot.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>toTwist2d</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dt>Parameters:</dt>
<dd><code>wheelDeltas</code> - The latest change in position of the modules (as a SwerveModulePosition type) as measured from
respective encoders and gyros. The order of the swerve module states should be same as passed
into the constructor of this class.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>The resulting Twist2d.</dd>
</dl>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.math</a></div>
<h2 title="Class SwerveMath" class="title">Class SwerveMath</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.math</a></div>
<h1 title="Class SwerveMath" class="title">Class SwerveMath</h1>
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<pre>public class <span class="typeNameLabel">SwerveMath</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveMath</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Mathematical functions which pertain to swerve drive.</div>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveMath</a></span>()</code></th>
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<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveMath</a>()</code></div>
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<td class="colFirst"><code>static double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#applyDeadband(double,boolean,double)">applyDeadband</a></span>&#8203;(double&nbsp;value,
boolean&nbsp;scaled,
double&nbsp;deadband)</code></th>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#applyDeadband(double,boolean,double)" class="member-name-link">applyDeadband</a><wbr>(double&nbsp;value,
boolean&nbsp;scaled,
double&nbsp;deadband)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>private static double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">calcMaxAccel</a></span>&#8203;(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>private static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">calcMaxAccel</a><wbr>(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>static double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateAngleKV(double,double,double)">calculateAngleKV</a></span>&#8203;(double&nbsp;optimalVoltage,
double&nbsp;motorFreeSpeedRPM,
double&nbsp;angleGearRatio)</code></th>
<td class="colLast">
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateAngleKV(double,double,double)" class="member-name-link">calculateAngleKV</a><wbr>(double&nbsp;optimalVoltage,
double&nbsp;motorFreeSpeedRPM,
double&nbsp;angleGearRatio)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>static double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateDegreesPerSteeringRotation(double,double)">calculateDegreesPerSteeringRotation</a></span>&#8203;(double&nbsp;angleGearRatio,
double&nbsp;pulsePerRotation)</code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation</a><wbr>(double&nbsp;angleGearRatio,
double&nbsp;pulsePerRotation)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the degrees per steering rotation for the integrated encoder.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>static double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAcceleration(double)">calculateMaxAcceleration</a></span>&#8203;(double&nbsp;cof)</code></th>
<td class="colLast">
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;cof)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>static double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAcceleration(double,double,double,double,double)">calculateMaxAcceleration</a></span>&#8203;(double&nbsp;stallTorqueNm,
double&nbsp;gearRatio,
double&nbsp;moduleCount,
double&nbsp;wheelDiameter,
double&nbsp;robotMass)</code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAcceleration(double,double,double,double,double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;stallTorqueNm,
double&nbsp;gearRatio,
double&nbsp;moduleCount,
double&nbsp;wheelDiameter,
double&nbsp;robotMass)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>static double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAngularVelocity(double,double,double)">calculateMaxAngularVelocity</a></span>&#8203;(double&nbsp;maxSpeed,
double&nbsp;furthestModuleX,
double&nbsp;furthestModuleY)</code></th>
<td class="colLast">
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMaxAngularVelocity(double,double,double)" class="member-name-link">calculateMaxAngularVelocity</a><wbr>(double&nbsp;maxSpeed,
double&nbsp;furthestModuleX,
double&nbsp;furthestModuleY)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the maximum angular velocity.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>static double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMetersPerRotation(double,double,double)">calculateMetersPerRotation</a></span>&#8203;(double&nbsp;wheelDiameter,
double&nbsp;driveGearRatio,
double&nbsp;pulsePerRotation)</code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#calculateMetersPerRotation(double,double,double)" class="member-name-link">calculateMetersPerRotation</a><wbr>(double&nbsp;wheelDiameter,
double&nbsp;driveGearRatio,
double&nbsp;pulsePerRotation)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the meters per rotation for the integrated encoder.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>static edu.wpi.first.math.geometry.Translation2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">limitVelocity</a></span>&#8203;(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldVelocity,
edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
double&nbsp;loopTime,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</code></th>
<td class="colLast">
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldVelocity,
edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
double&nbsp;loopTime,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<a id="&lt;init&gt;()">
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<h4>SwerveMath</h4>
<pre>public&nbsp;SwerveMath()</pre>
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<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<h2>Constructor Details</h2>
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<li>
<section class="detail" id="&lt;init&gt;()">
<h3>SwerveMath</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveMath</span>()</div>
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<a id="calculateAngleKV(double,double,double)">
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<h4>calculateAngleKV</h4>
<pre class="methodSignature">public static&nbsp;double&nbsp;calculateAngleKV&#8203;(double&nbsp;optimalVoltage,
double&nbsp;motorFreeSpeedRPM,
double&nbsp;angleGearRatio)</pre>
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="calculateAngleKV(double,double,double)">
<h3>calculateAngleKV</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculateAngleKV</span><wbr><span class="parameters">(double&nbsp;optimalVoltage,
double&nbsp;motorFreeSpeedRPM,
double&nbsp;angleGearRatio)</span></div>
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds /
degree <=> (maxVolts) / (maxSpeed)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
degree &lt;=> (maxVolts) / (maxSpeed)</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>optimalVoltage</code> - Optimal voltage to use when calculating the angle kV.</dd>
<dd><code>motorFreeSpeedRPM</code> - Motor free speed in Rotations per Minute.</dd>
<dd><code>angleGearRatio</code> - Angle gear ratio, the amount of times the motor as to turn for the wheel rotation.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>angle kV for feedforward.</dd>
</dl>
</section>
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<a id="calculateMetersPerRotation(double,double,double)">
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<h4>calculateMetersPerRotation</h4>
<pre class="methodSignature">public static&nbsp;double&nbsp;calculateMetersPerRotation&#8203;(double&nbsp;wheelDiameter,
double&nbsp;driveGearRatio,
double&nbsp;pulsePerRotation)</pre>
<li>
<section class="detail" id="calculateMetersPerRotation(double,double,double)">
<h3>calculateMetersPerRotation</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculateMetersPerRotation</span><wbr><span class="parameters">(double&nbsp;wheelDiameter,
double&nbsp;driveGearRatio,
double&nbsp;pulsePerRotation)</span></div>
<div class="block">Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence]
/ gear ratio.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
<dd><code>driveGearRatio</code> - The gear ratio of the drive motor.</dd>
<dd><code>pulsePerRotation</code> - The number of encoder pulses per rotation. 1 if using an integrated encoder.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Meters per rotation for the drive motor.</dd>
</dl>
</section>
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<a id="applyDeadband(double,boolean,double)">
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<h4>applyDeadband</h4>
<pre class="methodSignature">public static&nbsp;double&nbsp;applyDeadband&#8203;(double&nbsp;value,
boolean&nbsp;scaled,
double&nbsp;deadband)</pre>
<li>
<section class="detail" id="applyDeadband(double,boolean,double)">
<h3>applyDeadband</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">applyDeadband</span><wbr><span class="parameters">(double&nbsp;value,
boolean&nbsp;scaled,
double&nbsp;deadband)</span></div>
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>value</code> - value to apply deadband to.</dd>
<dd><code>scaled</code> - Use algebra to determine deadband by starting the value at 0 past deadband.</dd>
<dd><code>deadband</code> - The deadbnad to apply.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Value with deadband applied.</dd>
</dl>
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<a id="calculateDegreesPerSteeringRotation(double,double)">
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<h4>calculateDegreesPerSteeringRotation</h4>
<pre class="methodSignature">public static&nbsp;double&nbsp;calculateDegreesPerSteeringRotation&#8203;(double&nbsp;angleGearRatio,
double&nbsp;pulsePerRotation)</pre>
<li>
<section class="detail" id="calculateDegreesPerSteeringRotation(double,double)">
<h3>calculateDegreesPerSteeringRotation</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculateDegreesPerSteeringRotation</span><wbr><span class="parameters">(double&nbsp;angleGearRatio,
double&nbsp;pulsePerRotation)</span></div>
<div class="block">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.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>angleGearRatio</code> - The gear ratio of the steering motor.</dd>
<dd><code>pulsePerRotation</code> - The number of pulses in a complete rotation for the encoder, 1 if integrated.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Degrees per steering rotation for the angle motor.</dd>
</dl>
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<a id="calculateMaxAngularVelocity(double,double,double)">
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<h4>calculateMaxAngularVelocity</h4>
<pre class="methodSignature">public static&nbsp;double&nbsp;calculateMaxAngularVelocity&#8203;(double&nbsp;maxSpeed,
double&nbsp;furthestModuleX,
double&nbsp;furthestModuleY)</pre>
<li>
<section class="detail" id="calculateMaxAngularVelocity(double,double,double)">
<h3>calculateMaxAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculateMaxAngularVelocity</span><wbr><span class="parameters">(double&nbsp;maxSpeed,
double&nbsp;furthestModuleX,
double&nbsp;furthestModuleY)</span></div>
<div class="block">Calculate the maximum angular velocity.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>maxSpeed</code> - Max speed of the robot in meters per second.</dd>
<dd><code>furthestModuleX</code> - X of the furthest module in meters.</dd>
<dd><code>furthestModuleY</code> - Y of the furthest module in meters.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Maximum angular velocity in rad/s.</dd>
</dl>
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<h4>calculateMaxAcceleration</h4>
<pre class="methodSignature">public static&nbsp;double&nbsp;calculateMaxAcceleration&#8203;(double&nbsp;cof)</pre>
<li>
<section class="detail" id="calculateMaxAcceleration(double)">
<h3>calculateMaxAcceleration</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculateMaxAcceleration</span><wbr><span class="parameters">(double&nbsp;cof)</span></div>
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>cof</code> - Coefficient of Friction of the wheel grip tape.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Practical maximum acceleration in m/s/s.</dd>
</dl>
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<h4>calculateMaxAcceleration</h4>
<pre class="methodSignature">public static&nbsp;double&nbsp;calculateMaxAcceleration&#8203;(double&nbsp;stallTorqueNm,
double&nbsp;gearRatio,
double&nbsp;moduleCount,
double&nbsp;wheelDiameter,
double&nbsp;robotMass)</pre>
<li>
<section class="detail" id="calculateMaxAcceleration(double,double,double,double,double)">
<h3>calculateMaxAcceleration</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calculateMaxAcceleration</span><wbr><span class="parameters">(double&nbsp;stallTorqueNm,
double&nbsp;gearRatio,
double&nbsp;moduleCount,
double&nbsp;wheelDiameter,
double&nbsp;robotMass)</span></div>
<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>stallTorqueNm</code> - Stall torque of driving motor in nM.</dd>
<dd><code>gearRatio</code> - Gear ratio for driving motor number of motor rotations until one wheel rotation.</dd>
<dd><code>moduleCount</code> - Number of swerve modules.</dd>
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
<dd><code>robotMass</code> - Mass of the robot in kg.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Theoretical maximum acceleration in m/s/s.</dd>
</dl>
</section>
</li>
</ul>
<a id="calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">
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<h4>calcMaxAccel</h4>
<pre class="methodSignature">private static&nbsp;double&nbsp;calcMaxAccel&#8203;(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</pre>
<li>
<section class="detail" id="calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">
<h3>calcMaxAccel</h3>
<div class="member-signature"><span class="modifiers">private static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">calcMaxAccel</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</span></div>
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
NetworkTables and is passed the direction in question.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>angle</code> - The direction in which to calculate max acceleration, as a Rotation2d. Note that this
is robot-relative.</dd>
<dd><code>chassisMass</code> - Chassis mass in kg. (The weight of just the chassis not anything else)</dd>
<dd><code>robotMass</code> - The weight of the robot in kg. (Including manipulators, etc).</dd>
<dd><code>chassisCenterOfGravity</code> - Chassis center of gravity.</dd>
<dd><code>config</code> - The swerve drive configuration.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Maximum acceleration allowed in the robot direction.</dd>
</dl>
</section>
</li>
</ul>
<a id="limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">
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<h4>limitVelocity</h4>
<pre class="methodSignature">public static&nbsp;edu.wpi.first.math.geometry.Translation2d&nbsp;limitVelocity&#8203;(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldVelocity,
edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
double&nbsp;loopTime,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</pre>
<li>
<section class="detail" id="limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">
<h3>limitVelocity</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d</span>&nbsp;<span class="element-name">limitVelocity</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldVelocity,
edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
double&nbsp;loopTime,
double&nbsp;chassisMass,
double&nbsp;robotMass,
edu.wpi.first.math.geometry.Translation3d&nbsp;chassisCenterOfGravity,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</span></div>
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>. Note that
this takes and returns field-relative velocities.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>commandedVelocity</code> - The desired velocity</dd>
<dd><code>fieldVelocity</code> - The velocity of the robot within a field relative state.</dd>
<dd><code>robotPose</code> - The current pose of the robot.</dd>
@@ -502,80 +375,20 @@ extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/ja
<dd><code>robotMass</code> - The weight of the robot in kg. (Including manipulators, etc).</dd>
<dd><code>chassisCenterOfGravity</code> - Chassis center of gravity.</dd>
<dd><code>config</code> - The swerve drive configuration.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
velocity.</dd>
</dl>
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<h2 title="Class SwerveModuleState2" class="title">Class SwerveModuleState2</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.math</a></div>
<h1 title="Class SwerveModuleState2" class="title">Class SwerveModuleState2</h1>
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<li>edu.wpi.first.math.kinematics.SwerveModuleState</li>
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<div class="inheritance">edu.wpi.first.math.kinematics.SwerveModuleState
<div class="inheritance">swervelib.math.SwerveModuleState2</div>
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<dl class="notes">
<dt>All Implemented Interfaces:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;edu.wpi.first.math.kinematics.SwerveModuleState&gt;</code></dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Comparable.html" title="class or interface in java.lang" class="external-link">Comparable</a>&lt;edu.wpi.first.math.kinematics.SwerveModuleState&gt;</code></dd>
</dl>
<hr>
<pre>public class <span class="typeNameLabel">SwerveModuleState2</span>
extends edu.wpi.first.math.kinematics.SwerveModuleState</pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveModuleState2</span>
<span class="extends-implements">extends edu.wpi.first.math.kinematics.SwerveModuleState</span></div>
<div class="block">Second order kinematics swerve module state.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>edu.wpi.first.math.geometry.Rotation2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#omegaRadPerSecond">omegaRadPerSecond</a></span></code></th>
<td class="colLast">
<div class="block">Rad per sec</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#speedMetersPerSecond">speedMetersPerSecond</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveModuleState2</a></span>()</code></th>
<td class="colLast">
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)">SwerveModuleState2</a></span>&#8203;(double&nbsp;speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;omegaRadPerSecond)</code></th>
<td class="colLast">
<div class="block">Constructs a SwerveModuleState.</div>
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<h3>Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveModuleState</h3>
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<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color"><code><a href="#angle" class="member-name-link">angle</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve module angle as a <code>Rotation2d</code>.</div>
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<h3>Field Detail</h3>
<a id="speedMetersPerSecond">
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<h4>speedMetersPerSecond</h4>
<pre>public&nbsp;double speedMetersPerSecond</pre>
</li>
</ul>
<a id="omegaRadPerSecond">
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</a>
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<h4>omegaRadPerSecond</h4>
<pre>public&nbsp;double omegaRadPerSecond</pre>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#omegaRadPerSecond" class="member-name-link">omegaRadPerSecond</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Rad per sec</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#speedMetersPerSecond" class="member-name-link">speedMetersPerSecond</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve module speed in meters per second.</div>
</div>
</div>
</section>
</li>
</ul>
<a id="angle">
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</a>
<ul class="blockListLast">
<li class="blockList">
<h4>angle</h4>
<pre>public&nbsp;edu.wpi.first.math.geometry.Rotation2d angle</pre>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveModuleState2</a>()</code></div>
<div class="col-last even-row-color">
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)" class="member-name-link">SwerveModuleState2</a><wbr>(double&nbsp;speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;omegaRadPerSecond)</code></div>
<div class="col-last odd-row-color">
<div class="block">Constructs a SwerveModuleState.</div>
</div>
</div>
</section>
</li>
</ul>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveModuleState">Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveModuleState</h3>
<code>compareTo, equals, hashCode, optimize, toString</code></div>
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<h4>SwerveModuleState2</h4>
<pre>public&nbsp;SwerveModuleState2()</pre>
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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<h3>speedMetersPerSecond</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">speedMetersPerSecond</span></div>
<div class="block">Swerve module speed in meters per second.</div>
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<h3>omegaRadPerSecond</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">omegaRadPerSecond</span></div>
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<h3>angle</h3>
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<div class="block">Swerve module angle as a <code>Rotation2d</code>.</div>
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<h4>SwerveModuleState2</h4>
<pre>public&nbsp;SwerveModuleState2&#8203;(double&nbsp;speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
double&nbsp;omegaRadPerSecond)</pre>
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<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleState2</span>()</div>
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleState2</span><wbr><span class="parameters">(double&nbsp;speedMetersPerSecond,
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double&nbsp;omegaRadPerSecond)</span></div>
<div class="block">Constructs a SwerveModuleState.</div>
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<dt>Parameters:</dt>
<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
<dd><code>angle</code> - The angle of the module.</dd>
<dd><code>omegaRadPerSecond</code> - The angular velocity of the module.</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h2 title="Enum SparkMaxSwerve.SparkMAX_slotIdx" class="title">Enum SparkMaxSwerve.SparkMAX_slotIdx</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h1 title="Enum Class SparkMaxSwerve.SparkMAX_slotIdx" class="title">Enum Class SparkMaxSwerve.SparkMAX_slotIdx</h1>
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<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/Serializable.html" title="class or interface in java.io" class="external-link">Serializable</a></code>, <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Comparable.html" title="class or interface in java.lang" class="external-link">Comparable</a>&lt;<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>&gt;</code>, <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/constant/Constable.html" title="class or interface in java.lang.constant" class="external-link">Constable</a></code></dd>
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<dt>Enclosing class:</dt>
<dd><a href="SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dd>
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<hr>
<pre>static enum <span class="typeNameLabel">SparkMaxSwerve.SparkMAX_slotIdx</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>&gt;</pre>
<div class="type-signature"><span class="modifiers">static enum </span><span class="element-name type-name-label">SparkMaxSwerve.SparkMAX_slotIdx</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html" title="class or interface in java.lang" class="external-link">Enum</a>&lt;<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>&gt;</span></div>
<div class="block">REV Slots for PID configuration.</div>
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<div class="col-first even-row-color"><code><a href="#Position" class="member-name-link">Position</a></code></div>
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<div class="block">Slot 1, used for position PID's.</div>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SparkMAX_slotIdx</a></span>()</code></th>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SparkMAX_slotIdx</a>()</code></div>
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<td class="colFirst"><code>static <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
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<td class="colFirst"><code>static <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
<td class="colLast">
<div class="block">Returns an array containing the constants of this enum type, in
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#valueOf(java.lang.String)" class="member-name-link">valueOf</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Returns the enum constant of this class with the specified name.</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#values()" class="member-name-link">values</a>()</code></div>
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<div class="block">Returns an array containing the constants of this enum class, in
the order they are declared.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#compareTo(E)" title="class or interface in java.lang" class="externalLink">compareTo</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#getDeclaringClass()" title="class or interface in java.lang" class="externalLink">getDeclaringClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#name()" title="class or interface in java.lang" class="externalLink">name</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#ordinal()" title="class or interface in java.lang" class="externalLink">ordinal</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#valueOf(java.lang.Class,java.lang.String)" title="class or interface in java.lang" class="externalLink">valueOf</a></code></li>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h3 id="methods-inherited-from-class-java.lang.Enum">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html" title="class or interface in java.lang" class="external-link">Enum</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#compareTo(E)" title="class or interface in java.lang" class="external-link">compareTo</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#describeConstable()" title="class or interface in java.lang" class="external-link">describeConstable</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#getDeclaringClass()" title="class or interface in java.lang" class="external-link">getDeclaringClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#name()" title="class or interface in java.lang" class="external-link">name</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#ordinal()" title="class or interface in java.lang" class="external-link">ordinal</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#valueOf(java.lang.Class,java.lang.String)" title="class or interface in java.lang" class="external-link">valueOf</a></code></div>
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<pre>public static final&nbsp;<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a> Position</pre>
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<h2>Enum Constant Details</h2>
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<section class="detail" id="Position">
<h3>Position</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></span>&nbsp;<span class="element-name">Position</span></div>
<div class="block">Slot 1, used for position PID's.</div>
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<h4>Velocity</h4>
<pre>public static final&nbsp;<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a> Velocity</pre>
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<h3>Velocity</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></span>&nbsp;<span class="element-name">Velocity</span></div>
<div class="block">Slot 2, used for velocity PID's.</div>
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<pre>public static final&nbsp;<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a> Simulation</pre>
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<h3>Simulation</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></span>&nbsp;<span class="element-name">Simulation</span></div>
<div class="block">Slot 3, used arbitrarily. (Documentation show simulations).</div>
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<h4>SparkMAX_slotIdx</h4>
<pre>private&nbsp;SparkMAX_slotIdx()</pre>
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<h2>Constructor Details</h2>
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<h3>SparkMAX_slotIdx</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="element-name">SparkMAX_slotIdx</span>()</div>
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<pre class="methodSignature">public static&nbsp;<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (SparkMaxSwerve.SparkMAX_slotIdx c : SparkMaxSwerve.SparkMAX_slotIdx.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
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<h3>values</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>[]</span>&nbsp;<span class="element-name">values</span>()</div>
<div class="block">Returns an array containing the constants of this enum class, in
the order they are declared.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>an array containing the constants of this enum class, in the order they are declared</dd>
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<pre class="methodSignature">public static&nbsp;<a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
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<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></span>&nbsp;<span class="element-name">valueOf</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Returns the enum constant of this class with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
enum constant in this class. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if this enum type has no constant with the specified name</dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/NullPointerException.html?is-external=true" title="class or interface in java.lang" class="externalLink">NullPointerException</a></code> - if the argument is null</dd>
<dt>Throws:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/IllegalArgumentException.html" title="class or interface in java.lang" class="external-link">IllegalArgumentException</a></code> - if this enum class has no constant with the specified name</dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/NullPointerException.html" title="class or interface in java.lang" class="external-link">NullPointerException</a></code> - if the argument is null</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h2 title="Enum TalonSRXSwerve.CTRE_pidIdx" class="title">Enum TalonSRXSwerve.CTRE_pidIdx</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h1 title="Enum Class TalonSRXSwerve.CTRE_pidIdx" class="title">Enum Class TalonSRXSwerve.CTRE_pidIdx</h1>
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<div class="contentContainer">
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>&gt;</li>
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<li>swervelib.motors.TalonSRXSwerve.CTRE_pidIdx</li>
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<div class="inheritance">swervelib.motors.TalonSRXSwerve.CTRE_pidIdx</div>
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<section class="class-description" id="class-description">
<dl class="notes">
<dt>All Implemented Interfaces:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/Serializable.html?is-external=true" title="class or interface in java.io" class="externalLink">Serializable</a></code>, <code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>&gt;</code></dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/Serializable.html" title="class or interface in java.io" class="external-link">Serializable</a></code>, <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Comparable.html" title="class or interface in java.lang" class="external-link">Comparable</a>&lt;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>&gt;</code>, <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/constant/Constable.html" title="class or interface in java.lang.constant" class="external-link">Constable</a></code></dd>
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<dl>
<dl class="notes">
<dt>Enclosing class:</dt>
<dd><a href="TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dd>
</dl>
<hr>
<pre>static enum <span class="typeNameLabel">TalonSRXSwerve.CTRE_pidIdx</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>&gt;</pre>
<div class="type-signature"><span class="modifiers">static enum </span><span class="element-name type-name-label">TalonSRXSwerve.CTRE_pidIdx</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html" title="class or interface in java.lang" class="external-link">Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>&gt;</span></div>
<div class="block">The Talon PID to use onboard.</div>
</section>
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<h2>Nested Class Summary</h2>
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<h2 id="nested-classes-inherited-from-class-java.lang.Enum">Nested classes/interfaces inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html" title="class or interface in java.lang" class="external-link">Enum</a></h2>
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<h3>Enum Constant Summary</h3>
<table class="memberSummary">
<caption><span>Enum Constants</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Enum Constant</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#AUXILIARY_PID">AUXILIARY_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#FOURTH_PID">FOURTH_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#PRIMARY_PID">PRIMARY_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#THIRD_PID">THIRD_PID</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<h2>Enum Constant Summary</h2>
<div class="caption"><span>Enum Constants</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Enum Constant</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code><a href="#AUXILIARY_PID" class="member-name-link">AUXILIARY_PID</a></code></div>
<div class="col-last even-row-color">
<div class="block">Secondary PID for talons.</div>
</div>
<div class="col-first odd-row-color"><code><a href="#FOURTH_PID" class="member-name-link">FOURTH_PID</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Fourth PID slot for talons.</div>
</div>
<div class="col-first even-row-color"><code><a href="#PRIMARY_PID" class="member-name-link">PRIMARY_PID</a></code></div>
<div class="col-last even-row-color">
<div class="block">Primary PID for talons.</div>
</div>
<div class="col-first odd-row-color"><code><a href="#THIRD_PID" class="member-name-link">THIRD_PID</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Third PID slot for talons.</div>
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<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_pidIdx</a></span>()</code></th>
<td class="colLast">&nbsp;</td>
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<div class="col-first even-row-color"><code>private </code></div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">CTRE_pidIdx</a>()</code></div>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
<td class="colLast">
<div class="block">Returns the enum constant of this type with the specified name.</div>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
<td class="colLast">
<div class="block">Returns an array containing the constants of this enum type, in
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#valueOf(java.lang.String)" class="member-name-link">valueOf</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Returns the enum constant of this class with the specified name.</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#values()" class="member-name-link">values</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Returns an array containing the constants of this enum class, in
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#compareTo(E)" title="class or interface in java.lang" class="external-link">compareTo</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#describeConstable()" title="class or interface in java.lang" class="external-link">describeConstable</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#getDeclaringClass()" title="class or interface in java.lang" class="external-link">getDeclaringClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#name()" title="class or interface in java.lang" class="external-link">name</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#ordinal()" title="class or interface in java.lang" class="external-link">ordinal</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#valueOf(java.lang.Class,java.lang.String)" title="class or interface in java.lang" class="external-link">valueOf</a></code></div>
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a> PRIMARY_PID</pre>
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<h2>Enum Constant Details</h2>
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<h3>PRIMARY_PID</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></span>&nbsp;<span class="element-name">PRIMARY_PID</span></div>
<div class="block">Primary PID for talons.</div>
</section>
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<h4>AUXILIARY_PID</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a> AUXILIARY_PID</pre>
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<h3>AUXILIARY_PID</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></span>&nbsp;<span class="element-name">AUXILIARY_PID</span></div>
<div class="block">Secondary PID for talons.</div>
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<h4>THIRD_PID</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a> THIRD_PID</pre>
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<h3>THIRD_PID</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></span>&nbsp;<span class="element-name">THIRD_PID</span></div>
<div class="block">Third PID slot for talons.</div>
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<h4>FOURTH_PID</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a> FOURTH_PID</pre>
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<h3>FOURTH_PID</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></span>&nbsp;<span class="element-name">FOURTH_PID</span></div>
<div class="block">Fourth PID slot for talons.</div>
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<h4>CTRE_pidIdx</h4>
<pre>private&nbsp;CTRE_pidIdx()</pre>
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<h2>Constructor Details</h2>
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<h3>CTRE_pidIdx</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="element-name">CTRE_pidIdx</span>()</div>
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<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (TalonSRXSwerve.CTRE_pidIdx c : TalonSRXSwerve.CTRE_pidIdx.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
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<h3>values</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>[]</span>&nbsp;<span class="element-name">values</span>()</div>
<div class="block">Returns an array containing the constants of this enum class, in
the order they are declared.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>an array containing the constants of this enum class, in the order they are declared</dd>
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<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
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<h3>valueOf</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></span>&nbsp;<span class="element-name">valueOf</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Returns the enum constant of this class with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
enum constant in this class. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if this enum type has no constant with the specified name</dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/NullPointerException.html?is-external=true" title="class or interface in java.lang" class="externalLink">NullPointerException</a></code> - if the argument is null</dd>
<dt>Throws:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/IllegalArgumentException.html" title="class or interface in java.lang" class="external-link">IllegalArgumentException</a></code> - if this enum class has no constant with the specified name</dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/NullPointerException.html" title="class or interface in java.lang" class="external-link">NullPointerException</a></code> - if the argument is null</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h2 title="Enum TalonSRXSwerve.CTRE_remoteSensor" class="title">Enum TalonSRXSwerve.CTRE_remoteSensor</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h1 title="Enum Class TalonSRXSwerve.CTRE_remoteSensor" class="title">Enum Class TalonSRXSwerve.CTRE_remoteSensor</h1>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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</div>
</div>
<section class="class-description" id="class-description">
<dl class="notes">
<dt>All Implemented Interfaces:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/Serializable.html?is-external=true" title="class or interface in java.io" class="externalLink">Serializable</a></code>, <code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>&gt;</code></dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/Serializable.html" title="class or interface in java.io" class="external-link">Serializable</a></code>, <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Comparable.html" title="class or interface in java.lang" class="external-link">Comparable</a>&lt;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>&gt;</code>, <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/constant/Constable.html" title="class or interface in java.lang.constant" class="external-link">Constable</a></code></dd>
</dl>
<dl>
<dl class="notes">
<dt>Enclosing class:</dt>
<dd><a href="TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dd>
</dl>
<hr>
<pre>static enum <span class="typeNameLabel">TalonSRXSwerve.CTRE_remoteSensor</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>&gt;</pre>
<div class="type-signature"><span class="modifiers">static enum </span><span class="element-name type-name-label">TalonSRXSwerve.CTRE_remoteSensor</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html" title="class or interface in java.lang" class="external-link">Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>&gt;</span></div>
<div class="block">The remote sensor.</div>
</section>
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<!-- ======== NESTED CLASS SUMMARY ======== -->
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<h2>Nested Class Summary</h2>
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<h2 id="nested-classes-inherited-from-class-java.lang.Enum">Nested classes/interfaces inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html" title="class or interface in java.lang" class="external-link">Enum</a></h2>
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<h3>Enum Constant Summary</h3>
<table class="memberSummary">
<caption><span>Enum Constants</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Enum Constant</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_0">REMOTE_SENSOR_0</a></span></code></th>
<td class="colLast">&nbsp;</td>
</tr>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#REMOTE_SENSOR_1">REMOTE_SENSOR_1</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<section class="constants-summary" id="enum-constant-summary">
<h2>Enum Constant Summary</h2>
<div class="caption"><span>Enum Constants</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Enum Constant</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code><a href="#REMOTE_SENSOR_0" class="member-name-link">REMOTE_SENSOR_0</a></code></div>
<div class="col-last even-row-color">
<div class="block">Remote sensor 0.</div>
</div>
<div class="col-first odd-row-color"><code><a href="#REMOTE_SENSOR_1" class="member-name-link">REMOTE_SENSOR_1</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Remote sensor 1.</div>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_remoteSensor</a></span>()</code></th>
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<div class="col-first even-row-color"><code>private </code></div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">CTRE_remoteSensor</a>()</code></div>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
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<div class="block">Returns the enum constant of this type with the specified name.</div>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
<td class="colLast">
<div class="block">Returns an array containing the constants of this enum type, in
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#valueOf(java.lang.String)" class="member-name-link">valueOf</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Returns the enum constant of this class with the specified name.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#values()" class="member-name-link">values</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Returns an array containing the constants of this enum class, in
the order they are declared.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#compareTo(E)" title="class or interface in java.lang" class="externalLink">compareTo</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#getDeclaringClass()" title="class or interface in java.lang" class="externalLink">getDeclaringClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#name()" title="class or interface in java.lang" class="externalLink">name</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#ordinal()" title="class or interface in java.lang" class="externalLink">ordinal</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#valueOf(java.lang.Class,java.lang.String)" title="class or interface in java.lang" class="externalLink">valueOf</a></code></li>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#compareTo(E)" title="class or interface in java.lang" class="external-link">compareTo</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#describeConstable()" title="class or interface in java.lang" class="external-link">describeConstable</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#getDeclaringClass()" title="class or interface in java.lang" class="external-link">getDeclaringClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#name()" title="class or interface in java.lang" class="external-link">name</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#ordinal()" title="class or interface in java.lang" class="external-link">ordinal</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#valueOf(java.lang.Class,java.lang.String)" title="class or interface in java.lang" class="external-link">valueOf</a></code></div>
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<a id="REMOTE_SENSOR_0">
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<h4>REMOTE_SENSOR_0</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a> REMOTE_SENSOR_0</pre>
<li>
<section class="constant-details" id="enum-constant-detail">
<h2>Enum Constant Details</h2>
<ul class="member-list">
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<section class="detail" id="REMOTE_SENSOR_0">
<h3>REMOTE_SENSOR_0</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></span>&nbsp;<span class="element-name">REMOTE_SENSOR_0</span></div>
<div class="block">Remote sensor 0.</div>
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<h4>REMOTE_SENSOR_1</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a> REMOTE_SENSOR_1</pre>
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<section class="detail" id="REMOTE_SENSOR_1">
<h3>REMOTE_SENSOR_1</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></span>&nbsp;<span class="element-name">REMOTE_SENSOR_1</span></div>
<div class="block">Remote sensor 1.</div>
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<h4>CTRE_remoteSensor</h4>
<pre>private&nbsp;CTRE_remoteSensor()</pre>
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<h2>Constructor Details</h2>
<ul class="member-list">
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<section class="detail" id="&lt;init&gt;()">
<h3>CTRE_remoteSensor</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="element-name">CTRE_remoteSensor</span>()</div>
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<h4>values</h4>
<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (TalonSRXSwerve.CTRE_remoteSensor c : TalonSRXSwerve.CTRE_remoteSensor.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
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<h2>Method Details</h2>
<ul class="member-list">
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<section class="detail" id="values()">
<h3>values</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>[]</span>&nbsp;<span class="element-name">values</span>()</div>
<div class="block">Returns an array containing the constants of this enum class, in
the order they are declared.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>an array containing the constants of this enum class, in the order they are declared</dd>
</dl>
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<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
<li>
<section class="detail" id="valueOf(java.lang.String)">
<h3>valueOf</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></span>&nbsp;<span class="element-name">valueOf</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Returns the enum constant of this class with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
enum constant in this class. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if this enum type has no constant with the specified name</dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/NullPointerException.html?is-external=true" title="class or interface in java.lang" class="externalLink">NullPointerException</a></code> - if the argument is null</dd>
<dt>Throws:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/IllegalArgumentException.html" title="class or interface in java.lang" class="external-link">IllegalArgumentException</a></code> - if this enum class has no constant with the specified name</dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/NullPointerException.html" title="class or interface in java.lang" class="external-link">NullPointerException</a></code> - if the argument is null</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h2 title="Enum TalonSRXSwerve.CTRE_slotIdx" class="title">Enum TalonSRXSwerve.CTRE_slotIdx</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.motors</a></div>
<h1 title="Enum Class TalonSRXSwerve.CTRE_slotIdx" class="title">Enum Class TalonSRXSwerve.CTRE_slotIdx</h1>
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<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/Serializable.html" title="class or interface in java.io" class="external-link">Serializable</a></code>, <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Comparable.html" title="class or interface in java.lang" class="external-link">Comparable</a>&lt;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>&gt;</code>, <code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/constant/Constable.html" title="class or interface in java.lang.constant" class="external-link">Constable</a></code></dd>
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<dd><a href="TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dd>
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<pre>static enum <span class="typeNameLabel">TalonSRXSwerve.CTRE_slotIdx</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>&gt;</pre>
<div class="type-signature"><span class="modifiers">static enum </span><span class="element-name type-name-label">TalonSRXSwerve.CTRE_slotIdx</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html" title="class or interface in java.lang" class="external-link">Enum</a>&lt;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>&gt;</span></div>
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
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<th class="colFirst" scope="col">Enum Constant</th>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#Distance">Distance</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<tr class="rowColor">
<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#MotionProfile">MotionProfile</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#Turning">Turning</a></span></code></th>
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<th class="colFirst" scope="row"><code><span class="memberNameLink"><a href="#Velocity">Velocity</a></span></code></th>
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<div class="col-first even-row-color"><code><a href="#Distance" class="member-name-link">Distance</a></code></div>
<div class="col-last even-row-color">
<div class="block">Slot 0, meant for distances PID's.</div>
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<div class="col-first odd-row-color"><code><a href="#MotionProfile" class="member-name-link">MotionProfile</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Slot 3, meant for motion profiles.</div>
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<div class="col-first even-row-color"><code><a href="#Turning" class="member-name-link">Turning</a></code></div>
<div class="col-last even-row-color">
<div class="block">Slot 1, meant for turning PID's.</div>
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<div class="col-first odd-row-color"><code><a href="#Velocity" class="member-name-link">Velocity</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Slot 2, meant for velocity PID's.</div>
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<td class="colFirst"><code>private </code></td>
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CTRE_slotIdx</a></span>()</code></th>
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<div class="col-first even-row-color"><code>private </code></div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">CTRE_slotIdx</a>()</code></div>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#valueOf(java.lang.String)">valueOf</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
<td class="colLast">
<div class="block">Returns the enum constant of this type with the specified name.</div>
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<td class="colFirst"><code>static <a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#values()">values</a></span>()</code></th>
<td class="colLast">
<div class="block">Returns an array containing the constants of this enum type, in
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#valueOf(java.lang.String)" class="member-name-link">valueOf</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Returns the enum constant of this class with the specified name.</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>[]</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#values()" class="member-name-link">values</a>()</code></div>
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<div class="block">Returns an array containing the constants of this enum class, in
the order they are declared.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true" title="class or interface in java.lang" class="externalLink">Enum</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#compareTo(E)" title="class or interface in java.lang" class="externalLink">compareTo</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#getDeclaringClass()" title="class or interface in java.lang" class="externalLink">getDeclaringClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#name()" title="class or interface in java.lang" class="externalLink">name</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#ordinal()" title="class or interface in java.lang" class="externalLink">ordinal</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Enum.html?is-external=true#valueOf(java.lang.Class,java.lang.String)" title="class or interface in java.lang" class="externalLink">valueOf</a></code></li>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h3 id="methods-inherited-from-class-java.lang.Enum">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html" title="class or interface in java.lang" class="external-link">Enum</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#compareTo(E)" title="class or interface in java.lang" class="external-link">compareTo</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#describeConstable()" title="class or interface in java.lang" class="external-link">describeConstable</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#getDeclaringClass()" title="class or interface in java.lang" class="external-link">getDeclaringClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#name()" title="class or interface in java.lang" class="external-link">name</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#ordinal()" title="class or interface in java.lang" class="external-link">ordinal</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Enum.html#valueOf(java.lang.Class,java.lang.String)" title="class or interface in java.lang" class="external-link">valueOf</a></code></div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<h3>Enum Constant Detail</h3>
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<h4>Distance</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a> Distance</pre>
<li>
<section class="constant-details" id="enum-constant-detail">
<h2>Enum Constant Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="Distance">
<h3>Distance</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></span>&nbsp;<span class="element-name">Distance</span></div>
<div class="block">Slot 0, meant for distances PID's.</div>
</section>
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<a id="Turning">
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<h4>Turning</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a> Turning</pre>
<li>
<section class="detail" id="Turning">
<h3>Turning</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></span>&nbsp;<span class="element-name">Turning</span></div>
<div class="block">Slot 1, meant for turning PID's.</div>
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<h4>Velocity</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a> Velocity</pre>
<li>
<section class="detail" id="Velocity">
<h3>Velocity</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></span>&nbsp;<span class="element-name">Velocity</span></div>
<div class="block">Slot 2, meant for velocity PID's.</div>
</section>
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<h4>MotionProfile</h4>
<pre>public static final&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a> MotionProfile</pre>
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<section class="detail" id="MotionProfile">
<h3>MotionProfile</h3>
<div class="member-signature"><span class="modifiers">public static final</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></span>&nbsp;<span class="element-name">MotionProfile</span></div>
<div class="block">Slot 3, meant for motion profiles.</div>
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<h4>CTRE_slotIdx</h4>
<pre>private&nbsp;CTRE_slotIdx()</pre>
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<h2>Constructor Details</h2>
<ul class="member-list">
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<section class="detail" id="&lt;init&gt;()">
<h3>CTRE_slotIdx</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="element-name">CTRE_slotIdx</span>()</div>
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<h4>values</h4>
<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>[]&nbsp;values()</pre>
<div class="block">Returns an array containing the constants of this enum type, in
the order they are declared. This method may be used to iterate
over the constants as follows:
<pre>
for (TalonSRXSwerve.CTRE_slotIdx c : TalonSRXSwerve.CTRE_slotIdx.values())
&nbsp; System.out.println(c);
</pre></div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>an array containing the constants of this enum type, in the order they are declared</dd>
<li>
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<h2>Method Details</h2>
<ul class="member-list">
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<section class="detail" id="values()">
<h3>values</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>[]</span>&nbsp;<span class="element-name">values</span>()</div>
<div class="block">Returns an array containing the constants of this enum class, in
the order they are declared.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>an array containing the constants of this enum class, in the order they are declared</dd>
</dl>
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<h4>valueOf</h4>
<pre class="methodSignature">public static&nbsp;<a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a>&nbsp;valueOf&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
<div class="block">Returns the enum constant of this type with the specified name.
<li>
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<h3>valueOf</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></span>&nbsp;<span class="element-name">valueOf</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Returns the enum constant of this class with the specified name.
The string must match <i>exactly</i> an identifier used to declare an
enum constant in this type. (Extraneous whitespace characters are
enum constant in this class. (Extraneous whitespace characters are
not permitted.)</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>name</code> - the name of the enum constant to be returned.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>the enum constant with the specified name</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if this enum type has no constant with the specified name</dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/NullPointerException.html?is-external=true" title="class or interface in java.lang" class="externalLink">NullPointerException</a></code> - if the argument is null</dd>
<dt>Throws:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/IllegalArgumentException.html" title="class or interface in java.lang" class="external-link">IllegalArgumentException</a></code> - if this enum class has no constant with the specified name</dd>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/NullPointerException.html" title="class or interface in java.lang" class="external-link">NullPointerException</a></code> - if the argument is null</dd>
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<h1 title="Package" class="title">Package&nbsp;swervelib.motors</h1>
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<th class="colFirst" scope="row"><a href="SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></th>
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<div class="col-first even-row-color"><a href="../package-summary.html">swervelib</a></div>
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<div class="col-first odd-row-color"><a href="../encoders/package-summary.html">swervelib.encoders</a></div>
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<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></div>
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<div class="block">An implementation of <code>CANSparkMax</code> as a <a href="SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</div>
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<th class="colFirst" scope="row"><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></th>
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<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>
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<th class="colFirst" scope="row"><a href="TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></th>
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<div class="block"><code>TalonFX</code> Swerve Motor.</div>
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<th class="colFirst" scope="row"><a href="TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></th>
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<div class="block"><code>WPI_TalonSRX</code> Swerve Motor.</div>
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<th class="colFirst" scope="row"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></th>
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<div class="col-first odd-row-color class-summary class-summary-tab3"><a href="SparkMaxSwerve.SparkMAX_slotIdx.html" title="enum class in swervelib.motors">SparkMaxSwerve.SparkMAX_slotIdx</a></div>
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<div class="block">REV Slots for PID configuration.</div>
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<th class="colFirst" scope="row"><a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></th>
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<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Swerve motor abstraction which defines a standard interface for motors within a swerve module.</div>
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<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block"><code>TalonFX</code> Swerve Motor.</div>
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<div class="col-first even-row-color class-summary class-summary-tab2"><a href="TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block"><code>WPI_TalonSRX</code> Swerve Motor.</div>
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<div class="col-first odd-row-color class-summary class-summary-tab3"><a href="TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab3">
<div class="block">The Talon PID to use onboard.</div>
</td>
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<th class="colFirst" scope="row"><a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></th>
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<div class="col-first even-row-color class-summary class-summary-tab3"><a href="TalonSRXSwerve.CTRE_remoteSensor.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_remoteSensor</a></div>
<div class="col-last even-row-color class-summary class-summary-tab3">
<div class="block">The remote sensor.</div>
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<th class="colFirst" scope="row"><a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></th>
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<div class="col-first odd-row-color class-summary class-summary-tab3"><a href="TalonSRXSwerve.CTRE_slotIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_slotIdx</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab3">
<div class="block">The Talon SRX Slot profile used to configure the motor to use for the PID.</div>
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<h1 class="title">Hierarchy For Package swervelib.motors</h1>
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<li class="circle">swervelib.motors.<a href="SwerveMotor.html" title="class in swervelib.motors"><span class="typeNameLink">SwerveMotor</span></a>
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<li class="circle">swervelib.motors.<a href="SparkMaxSwerve.html" class="type-name-link" title="class in swervelib.motors">SparkMaxSwerve</a></li>
<li class="circle">swervelib.motors.<a href="TalonFXSwerve.html" class="type-name-link" title="class in swervelib.motors">TalonFXSwerve</a></li>
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<div class="inheritance">swervelib.parser.PIDFConfig</div>
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<section class="class-description" id="class-description">
<hr>
<pre>public class <span class="typeNameLabel">PIDFConfig</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">PIDFConfig</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Hold the PIDF and Integral Zone values for a PID.</div>
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<h3>Field Summary</h3>
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<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#d">d</a></span></code></th>
<td class="colLast">
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#d" class="member-name-link">d</a></code></div>
<div class="col-last even-row-color">
<div class="block">Derivative Gain for PID.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#f">f</a></span></code></th>
<td class="colLast">
<div class="block">Feedforward value for PID.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#i">i</a></span></code></th>
<td class="colLast">
<div class="block">Integral Gain for PID.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#iz">iz</a></span></code></th>
<td class="colLast">
<div class="block">Integral zone of the PID.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="deserializer/PIDFRange.html" title="class in swervelib.parser.deserializer">PIDFRange</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#output">output</a></span></code></th>
<td class="colLast">
<div class="block">The PIDF output range.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#p">p</a></span></code></th>
<td class="colLast">
<div class="block">Proportional Gain for PID.</div>
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<h3>Constructor Summary</h3>
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<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PIDFConfig</a></span>()</code></th>
<td class="colLast">
<div class="block">Used when parsing PIDF values from JSON.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double)">PIDFConfig</a></span>&#8203;(double&nbsp;p,
double&nbsp;d)</code></th>
<td class="colLast">
<div class="block">PIDF Config constructor to contain the values.</div>
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<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double)">PIDFConfig</a></span>&#8203;(double&nbsp;p,
double&nbsp;i,
double&nbsp;d)</code></th>
<td class="colLast">
<div class="block">PIDF Config constructor to contain the values.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double)">PIDFConfig</a></span>&#8203;(double&nbsp;p,
double&nbsp;i,
double&nbsp;d,
double&nbsp;f)</code></th>
<td class="colLast">
<div class="block">PIDF Config constructor to contain the values.</div>
</td>
</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double,double)">PIDFConfig</a></span>&#8203;(double&nbsp;p,
double&nbsp;i,
double&nbsp;d,
double&nbsp;f,
double&nbsp;iz)</code></th>
<td class="colLast">
<div class="block">PIDF Config constructor to contain the values.</div>
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<h3>Method Summary</h3>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>edu.wpi.first.math.controller.PIDController</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createPIDController()">createPIDController</a></span>()</code></th>
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<div class="block">Create a PIDController from the PID values.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>p</h4>
<pre>public&nbsp;double p</pre>
<div class="block">Proportional Gain for PID.</div>
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<h4>i</h4>
<pre>public&nbsp;double i</pre>
<div class="block">Integral Gain for PID.</div>
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<h4>d</h4>
<pre>public&nbsp;double d</pre>
<div class="block">Derivative Gain for PID.</div>
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<h4>f</h4>
<pre>public&nbsp;double f</pre>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#f" class="member-name-link">f</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Feedforward value for PID.</div>
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<pre>public&nbsp;double iz</pre>
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<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#i" class="member-name-link">i</a></code></div>
<div class="col-last even-row-color">
<div class="block">Integral Gain for PID.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#iz" class="member-name-link">iz</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Integral zone of the PID.</div>
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<h4>output</h4>
<pre>public&nbsp;<a href="deserializer/PIDFRange.html" title="class in swervelib.parser.deserializer">PIDFRange</a> output</pre>
</div>
<div class="col-first even-row-color"><code><a href="deserializer/PIDFRange.html" title="class in swervelib.parser.deserializer">PIDFRange</a></code></div>
<div class="col-second even-row-color"><code><a href="#output" class="member-name-link">output</a></code></div>
<div class="col-last even-row-color">
<div class="block">The PIDF output range.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#p" class="member-name-link">p</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Proportional Gain for PID.</div>
</div>
</div>
</section>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">PIDFConfig</a>()</code></div>
<div class="col-last even-row-color">
<div class="block">Used when parsing PIDF values from JSON.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double)" class="member-name-link">PIDFConfig</a><wbr>(double&nbsp;p,
double&nbsp;d)</code></div>
<div class="col-last odd-row-color">
<div class="block">PIDF Config constructor to contain the values.</div>
</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(double,double,double)" class="member-name-link">PIDFConfig</a><wbr>(double&nbsp;p,
double&nbsp;i,
double&nbsp;d)</code></div>
<div class="col-last even-row-color">
<div class="block">PIDF Config constructor to contain the values.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double,double,double)" class="member-name-link">PIDFConfig</a><wbr>(double&nbsp;p,
double&nbsp;i,
double&nbsp;d,
double&nbsp;f)</code></div>
<div class="col-last odd-row-color">
<div class="block">PIDF Config constructor to contain the values.</div>
</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double)" class="member-name-link">PIDFConfig</a><wbr>(double&nbsp;p,
double&nbsp;i,
double&nbsp;d,
double&nbsp;f,
double&nbsp;iz)</code></div>
<div class="col-last even-row-color">
<div class="block">PIDF Config constructor to contain the values.</div>
</div>
</div>
</section>
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<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.controller.PIDController</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createPIDController()" class="member-name-link">createPIDController</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create a PIDController from the PID values.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<h4>PIDFConfig</h4>
<pre>public&nbsp;PIDFConfig()</pre>
<div class="block">Used when parsing PIDF values from JSON.</div>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="p">
<h3>p</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">p</span></div>
<div class="block">Proportional Gain for PID.</div>
</section>
</li>
<li>
<section class="detail" id="i">
<h3>i</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">i</span></div>
<div class="block">Integral Gain for PID.</div>
</section>
</li>
<li>
<section class="detail" id="d">
<h3>d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">d</span></div>
<div class="block">Derivative Gain for PID.</div>
</section>
</li>
<li>
<section class="detail" id="f">
<h3>f</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">f</span></div>
<div class="block">Feedforward value for PID.</div>
</section>
</li>
<li>
<section class="detail" id="iz">
<h3>iz</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">iz</span></div>
<div class="block">Integral zone of the PID.</div>
</section>
</li>
<li>
<section class="detail" id="output">
<h3>output</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="deserializer/PIDFRange.html" title="class in swervelib.parser.deserializer">PIDFRange</a></span>&nbsp;<span class="element-name">output</span></div>
<div class="block">The PIDF output range.</div>
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<h4>PIDFConfig</h4>
<pre>public&nbsp;PIDFConfig&#8203;(double&nbsp;p,
double&nbsp;i,
double&nbsp;d,
double&nbsp;f,
double&nbsp;iz)</pre>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>PIDFConfig</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PIDFConfig</span>()</div>
<div class="block">Used when parsing PIDF values from JSON.</div>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(double,double,double,double,double)">
<h3>PIDFConfig</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PIDFConfig</span><wbr><span class="parameters">(double&nbsp;p,
double&nbsp;i,
double&nbsp;d,
double&nbsp;f,
double&nbsp;iz)</span></div>
<div class="block">PIDF Config constructor to contain the values.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>p</code> - P gain.</dd>
<dd><code>i</code> - I gain.</dd>
<dd><code>d</code> - D gain.</dd>
<dd><code>f</code> - F gain.</dd>
<dd><code>iz</code> - Intergral zone.</dd>
</dl>
</section>
</li>
</ul>
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<h4>PIDFConfig</h4>
<pre>public&nbsp;PIDFConfig&#8203;(double&nbsp;p,
double&nbsp;i,
double&nbsp;d,
double&nbsp;f)</pre>
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<section class="detail" id="&lt;init&gt;(double,double,double,double)">
<h3>PIDFConfig</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PIDFConfig</span><wbr><span class="parameters">(double&nbsp;p,
double&nbsp;i,
double&nbsp;d,
double&nbsp;f)</span></div>
<div class="block">PIDF Config constructor to contain the values.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>p</code> - P gain.</dd>
<dd><code>i</code> - I gain.</dd>
<dd><code>d</code> - D gain.</dd>
<dd><code>f</code> - F gain.</dd>
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<pre>public&nbsp;PIDFConfig&#8203;(double&nbsp;p,
double&nbsp;i,
double&nbsp;d)</pre>
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<h3>PIDFConfig</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PIDFConfig</span><wbr><span class="parameters">(double&nbsp;p,
double&nbsp;i,
double&nbsp;d)</span></div>
<div class="block">PIDF Config constructor to contain the values.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>p</code> - P gain.</dd>
<dd><code>i</code> - I gain.</dd>
<dd><code>d</code> - D gain.</dd>
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<pre>public&nbsp;PIDFConfig&#8203;(double&nbsp;p,
double&nbsp;d)</pre>
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<h3>PIDFConfig</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PIDFConfig</span><wbr><span class="parameters">(double&nbsp;p,
double&nbsp;d)</span></div>
<div class="block">PIDF Config constructor to contain the values.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>p</code> - P gain.</dd>
<dd><code>d</code> - D gain.</dd>
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<h4>createPIDController</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.controller.PIDController&nbsp;createPIDController()</pre>
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<h2>Method Details</h2>
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<h3>createPIDController</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.controller.PIDController</span>&nbsp;<span class="element-name">createPIDController</span>()</div>
<div class="block">Create a PIDController from the PID values.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dl class="notes">
<dt>Returns:</dt>
<dd>PIDController.</dd>
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<h2 title="Class SwerveControllerConfiguration" class="title">Class SwerveControllerConfiguration</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser</a></div>
<h1 title="Class SwerveControllerConfiguration" class="title">Class SwerveControllerConfiguration</h1>
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<div class="inheritance">swervelib.parser.SwerveControllerConfiguration</div>
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<pre>public class <span class="typeNameLabel">SwerveControllerConfiguration</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveControllerConfiguration</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Swerve Controller configuration class which is used to configure <a href="../SwerveController.html" title="class in swervelib"><code>SwerveController</code></a>.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleJoyStickRadiusDeadband">angleJoyStickRadiusDeadband</a></span></code></th>
<td class="colLast">
<li>
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<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#angleJoyStickRadiusDeadband" class="member-name-link">angleJoyStickRadiusDeadband</a></code></div>
<div class="col-last even-row-color">
<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#headingPIDF">headingPIDF</a></span></code></th>
<td class="colLast">
<div class="block">PIDF for the heading of the robot.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxAngularVelocity">maxAngularVelocity</a></span></code></th>
<td class="colLast">
<div class="block">Maximum angular velocity in rad/s</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxSpeed">maxSpeed</a></span></code></th>
<td class="colLast">
<div class="block">Maximum robot speed in meters per second.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)">SwerveControllerConfiguration</a></span>&#8203;(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF)</code></th>
<td class="colLast">
<div class="block">Construct the swerve controller configuration.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)">SwerveControllerConfiguration</a></span>&#8203;(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;angleJoyStickRadiusDeadband)</code></th>
<td class="colLast">
<div class="block">Construct the swerve controller configuration.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>maxSpeed</h4>
<pre>public final&nbsp;double maxSpeed</pre>
<div class="block">Maximum robot speed in meters per second.</div>
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<h4>maxAngularVelocity</h4>
<pre>public final&nbsp;double maxAngularVelocity</pre>
<div class="block">Maximum angular velocity in rad/s</div>
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<a id="headingPIDF">
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<h4>headingPIDF</h4>
<pre>public final&nbsp;<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> headingPIDF</pre>
<div class="col-first odd-row-color"><code>final <a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second odd-row-color"><code><a href="#headingPIDF" class="member-name-link">headingPIDF</a></code></div>
<div class="col-last odd-row-color">
<div class="block">PIDF for the heading of the robot.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#maxAngularVelocity" class="member-name-link">maxAngularVelocity</a></code></div>
<div class="col-last even-row-color">
<div class="block">Maximum angular velocity in rad/s</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Maximum robot speed in meters per second.</div>
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<h4>angleJoyStickRadiusDeadband</h4>
<pre>public final&nbsp;double angleJoyStickRadiusDeadband</pre>
<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)" class="member-name-link">SwerveControllerConfiguration</a><wbr>(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct the swerve controller configuration.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)" class="member-name-link">SwerveControllerConfiguration</a><wbr>(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;angleJoyStickRadiusDeadband)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct the swerve controller configuration.</div>
</div>
</div>
</section>
</li>
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<!-- ========== METHOD SUMMARY =========== -->
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<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
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<section class="details">
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<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Maximum robot speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="maxAngularVelocity">
<h3>maxAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxAngularVelocity</span></div>
<div class="block">Maximum angular velocity in rad/s</div>
</section>
</li>
<li>
<section class="detail" id="headingPIDF">
<h3>headingPIDF</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type"><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></span>&nbsp;<span class="element-name">headingPIDF</span></div>
<div class="block">PIDF for the heading of the robot.</div>
</section>
</li>
<li>
<section class="detail" id="angleJoyStickRadiusDeadband">
<h3>angleJoyStickRadiusDeadband</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleJoyStickRadiusDeadband</span></div>
<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
</section>
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<h3>Constructor Detail</h3>
<a id="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)">
<!-- -->
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<h4>SwerveControllerConfiguration</h4>
<pre>public&nbsp;SwerveControllerConfiguration&#8203;(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;angleJoyStickRadiusDeadband)</pre>
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)">
<h3>SwerveControllerConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveControllerConfiguration</span><wbr><span class="parameters">(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;angleJoyStickRadiusDeadband)</span></div>
<div class="block">Construct the swerve controller configuration.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveCfg</code> - Drive configuration.</dd>
<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
<dd><code>angleJoyStickRadiusDeadband</code> - Deadband on radius of angle joystick.</dd>
</dl>
</section>
</li>
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<a id="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)">
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<h4>SwerveControllerConfiguration</h4>
<pre>public&nbsp;SwerveControllerConfiguration&#8203;(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF)</pre>
<li>
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)">
<h3>SwerveControllerConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveControllerConfiguration</span><wbr><span class="parameters">(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF)</span></div>
<div class="block">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).</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveCfg</code> - Drive configuration.</dd>
<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
</dl>
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<h2 title="Class SwerveDriveConfiguration" class="title">Class SwerveDriveConfiguration</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser</a></div>
<h1 title="Class SwerveDriveConfiguration" class="title">Class SwerveDriveConfiguration</h1>
</div>
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<ul class="inheritance">
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<li>swervelib.parser.SwerveDriveConfiguration</li>
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<section class="class-description" id="class-description">
<hr>
<pre>public class <span class="typeNameLabel">SwerveDriveConfiguration</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveDriveConfiguration</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Swerve drive configurations used during SwerveDrive construction.</div>
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<h3>Field Summary</h3>
<table class="memberSummary">
<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
<td class="colLast">
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code><a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve IMU</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#invertedIMU">invertedIMU</a></span></code></th>
<td class="colLast">
<div class="block">Invert the imu measurements.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxSpeed">maxSpeed</a></span></code></th>
<td class="colLast">
<div class="block">Max speed in meters per second.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleCount">moduleCount</a></span></code></th>
<td class="colLast">
<div class="block">Number of modules on the robot.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>edu.wpi.first.math.geometry.Translation2d[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleLocationsMeters">moduleLocationsMeters</a></span></code></th>
<td class="colLast">
<div class="block">Swerve Module locations.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#modules">modules</a></span></code></th>
<td class="colLast">
<div class="block">Swerve Modules.</div>
</td>
</tr>
</table>
</li>
</ul>
</section>
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<h3>Constructor Summary</h3>
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<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
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<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration%5B%5D,swervelib.imu.SwerveIMU,double,boolean)">SwerveDriveConfiguration</a></span>&#8203;(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;moduleConfigs,
<a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;swerveIMU,
double&nbsp;maxSpeed,
boolean&nbsp;invertedIMU)</code></th>
<td class="colLast">
<div class="block">Create swerve drive configuration.</div>
</td>
</tr>
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<h3>Method Summary</h3>
<table class="memberSummary">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModules(swervelib.parser.SwerveModuleConfiguration%5B%5D)">createModules</a></span>&#8203;(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;swerves)</code></th>
<td class="colLast">
<div class="block">Create modules based off of the SwerveModuleConfiguration.</div>
</td>
</tr>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h3>Field Detail</h3>
<a id="moduleLocationsMeters">
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<h4>moduleLocationsMeters</h4>
<pre>public&nbsp;edu.wpi.first.math.geometry.Translation2d[] moduleLocationsMeters</pre>
<div class="block">Swerve Module locations.</div>
</li>
</ul>
<a id="imu">
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<h4>imu</h4>
<pre>public&nbsp;<a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a> imu</pre>
<div class="block">Swerve IMU</div>
</li>
</ul>
<a id="invertedIMU">
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<h4>invertedIMU</h4>
<pre>public&nbsp;boolean invertedIMU</pre>
<div class="col-first odd-row-color"><code>boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Invert the imu measurements.</div>
</li>
</ul>
<a id="maxSpeed">
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<h4>maxSpeed</h4>
<pre>public&nbsp;double maxSpeed</pre>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last even-row-color">
<div class="block">Max speed in meters per second.</div>
</li>
</ul>
<a id="moduleCount">
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<h4>moduleCount</h4>
<pre>public&nbsp;int moduleCount</pre>
</div>
<div class="col-first odd-row-color"><code>int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleCount" class="member-name-link">moduleCount</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Number of modules on the robot.</div>
</li>
</ul>
<a id="modules">
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<h4>modules</h4>
<pre>public&nbsp;<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[] modules</pre>
</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.geometry.Translation2d[]</code></div>
<div class="col-second even-row-color"><code><a href="#moduleLocationsMeters" class="member-name-link">moduleLocationsMeters</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve Module locations.</div>
</div>
<div class="col-first odd-row-color"><code><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#modules" class="member-name-link">modules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve Modules.</div>
</div>
</div>
</section>
</li>
</ul>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration%5B%5D,swervelib.imu.SwerveIMU,double,boolean)" class="member-name-link">SwerveDriveConfiguration</a><wbr>(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;moduleConfigs,
<a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;swerveIMU,
double&nbsp;maxSpeed,
boolean&nbsp;invertedIMU)</code></div>
<div class="col-last even-row-color">
<div class="block">Create swerve drive configuration.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
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<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createModules(swervelib.parser.SwerveModuleConfiguration%5B%5D)" class="member-name-link">createModules</a><wbr>(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;swerves)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create modules based off of the SwerveModuleConfiguration.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="moduleLocationsMeters">
<h3>moduleLocationsMeters</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d[]</span>&nbsp;<span class="element-name">moduleLocationsMeters</span></div>
<div class="block">Swerve Module locations.</div>
</section>
</li>
<li>
<section class="detail" id="imu">
<h3>imu</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span>&nbsp;<span class="element-name">imu</span></div>
<div class="block">Swerve IMU</div>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Invert the imu measurements.</div>
</section>
</li>
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Max speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="moduleCount">
<h3>moduleCount</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">moduleCount</span></div>
<div class="block">Number of modules on the robot.</div>
</section>
</li>
<li>
<section class="detail" id="modules">
<h3>modules</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</span>&nbsp;<span class="element-name">modules</span></div>
<div class="block">Swerve Modules.</div>
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<h3>Constructor Detail</h3>
<a id="&lt;init&gt;(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,double,boolean)">
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<h4>SwerveDriveConfiguration</h4>
<pre>public&nbsp;SwerveDriveConfiguration&#8203;(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;moduleConfigs,
<a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;swerveIMU,
double&nbsp;maxSpeed,
boolean&nbsp;invertedIMU)</pre>
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<h2>Constructor Details</h2>
<ul class="member-list">
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<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,double,boolean)">
<h3>SwerveDriveConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDriveConfiguration</span><wbr><span class="parameters">(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;moduleConfigs,
<a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;swerveIMU,
double&nbsp;maxSpeed,
boolean&nbsp;invertedIMU)</span></div>
<div class="block">Create swerve drive configuration.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleConfigs</code> - Module configuration.</dd>
<dd><code>swerveIMU</code> - Swerve IMU.</dd>
<dd><code>maxSpeed</code> - Max speed of the robot in meters per second.</dd>
<dd><code>invertedIMU</code> - Invert the IMU.</dd>
</dl>
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<a id="createModules(swervelib.parser.SwerveModuleConfiguration[])">
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<h4>createModules</h4>
<pre class="methodSignature">public&nbsp;<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]&nbsp;createModules&#8203;(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;swerves)</pre>
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<h2>Method Details</h2>
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<section class="detail" id="createModules(swervelib.parser.SwerveModuleConfiguration[])">
<h3>createModules</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</span>&nbsp;<span class="element-name">createModules</span><wbr><span class="parameters">(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;swerves)</span></div>
<div class="block">Create modules based off of the SwerveModuleConfiguration.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>swerves</code> - Swerve constants.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>Swerve Modules.</dd>
</dl>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser</a></div>
<h2 title="Class SwerveModulePhysicalCharacteristics" class="title">Class SwerveModulePhysicalCharacteristics</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser</a></div>
<h1 title="Class SwerveModulePhysicalCharacteristics" class="title">Class SwerveModulePhysicalCharacteristics</h1>
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<div class="inheritance">swervelib.parser.SwerveModulePhysicalCharacteristics</div>
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<pre>public class <span class="typeNameLabel">SwerveModulePhysicalCharacteristics</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveModulePhysicalCharacteristics</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Configuration class which stores physical characteristics shared between every swerve module.</div>
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<h3>Field Summary</h3>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<td class="colFirst"><code>int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleEncoderPulsePerRotation">angleEncoderPulsePerRotation</a></span></code></th>
<td class="colLast">
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<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>final int</code></div>
<div class="col-second even-row-color"><code><a href="#angleEncoderPulsePerRotation" class="member-name-link">angleEncoderPulsePerRotation</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor encoder pulse per rotation.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleGearRatio">angleGearRatio</a></span></code></th>
<td class="colLast">
<div class="block">Angle gear ratio.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorCurrentLimit">angleMotorCurrentLimit</a></span></code></th>
<td class="colLast">
<div class="block">Current limits for the Swerve Module.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorFreeSpeedRPM">angleMotorFreeSpeedRPM</a></span></code></th>
<td class="colLast">
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorRampRate">angleMotorRampRate</a></span></code></th>
<td class="colLast">
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveEncoderPulsePerRotation">driveEncoderPulsePerRotation</a></span></code></th>
<td class="colLast">
<div class="block">Drive motor encoder pulse per rotation.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveGearRatio">driveGearRatio</a></span></code></th>
<td class="colLast">
<div class="block">Drive gear ratio.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotorCurrentLimit">driveMotorCurrentLimit</a></span></code></th>
<td class="colLast">
<div class="block">Current limits for the Swerve Module.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotorRampRate">driveMotorRampRate</a></span></code></th>
<td class="colLast">
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimalVoltage">optimalVoltage</a></span></code></th>
<td class="colLast">
<div class="block">Optimal voltage of the robot.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelDiameter">wheelDiameter</a></span></code></th>
<td class="colLast">
<div class="block">Wheel diameter in meters.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelGripCoefficientOfFriction">wheelGripCoefficientOfFriction</a></span></code></th>
<td class="colLast">
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
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<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int)">SwerveModulePhysicalCharacteristics</a></span>&#8203;(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</code></th>
<td class="colLast">
<div class="block">Construct the swerve module physical characteristics.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int)">SwerveModulePhysicalCharacteristics</a></span>&#8203;(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;wheelGripCoefficientOfFriction,
double&nbsp;optimalVoltage,
int&nbsp;driveMotorCurrentLimit,
int&nbsp;angleMotorCurrentLimit,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</code></th>
<td class="colLast">
<div class="block">Construct the swerve module physical characteristics.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h3>Field Detail</h3>
<a id="wheelDiameter">
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<h4>wheelDiameter</h4>
<pre>public final&nbsp;double wheelDiameter</pre>
<div class="block">Wheel diameter in meters.</div>
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<h4>driveGearRatio</h4>
<pre>public final&nbsp;double driveGearRatio</pre>
<div class="block">Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.</div>
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<h4>angleGearRatio</h4>
<pre>public final&nbsp;double angleGearRatio</pre>
<div class="block">Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.</div>
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<h4>driveEncoderPulsePerRotation</h4>
<pre>public final&nbsp;int driveEncoderPulsePerRotation</pre>
<div class="block">Drive motor encoder pulse per rotation. 1 if integrated encoder.</div>
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<h4>angleEncoderPulsePerRotation</h4>
<pre>public final&nbsp;int angleEncoderPulsePerRotation</pre>
<div class="block">Angle motor encoder pulse per rotation. 1 if integrated encoder.</div>
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<h4>optimalVoltage</h4>
<pre>public final&nbsp;double optimalVoltage</pre>
<div class="block">Optimal voltage of the robot.</div>
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<h4>driveMotorCurrentLimit</h4>
<pre>public final&nbsp;int driveMotorCurrentLimit</pre>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleGearRatio" class="member-name-link">angleGearRatio</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Angle gear ratio.</div>
</div>
<div class="col-first even-row-color"><code>final int</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorCurrentLimit" class="member-name-link">angleMotorCurrentLimit</a></code></div>
<div class="col-last even-row-color">
<div class="block">Current limits for the Swerve Module.</div>
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<pre>public final&nbsp;int angleMotorCurrentLimit</pre>
<div class="block">Current limits for the Swerve Module.</div>
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<h4>driveMotorRampRate</h4>
<pre>public final&nbsp;double driveMotorRampRate</pre>
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
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<h4>angleMotorRampRate</h4>
<pre>public final&nbsp;double angleMotorRampRate</pre>
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
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<h4>wheelGripCoefficientOfFriction</h4>
<pre>public final&nbsp;double wheelGripCoefficientOfFriction</pre>
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
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<h4>angleMotorFreeSpeedRPM</h4>
<pre>public final&nbsp;double angleMotorFreeSpeedRPM</pre>
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<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorRampRate" class="member-name-link">angleMotorRampRate</a></code></div>
<div class="col-last even-row-color">
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</div>
<div class="col-first odd-row-color"><code>final int</code></div>
<div class="col-second odd-row-color"><code><a href="#driveEncoderPulsePerRotation" class="member-name-link">driveEncoderPulsePerRotation</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Drive motor encoder pulse per rotation.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#driveGearRatio" class="member-name-link">driveGearRatio</a></code></div>
<div class="col-last even-row-color">
<div class="block">Drive gear ratio.</div>
</div>
<div class="col-first odd-row-color"><code>final int</code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotorCurrentLimit" class="member-name-link">driveMotorCurrentLimit</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Current limits for the Swerve Module.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#driveMotorRampRate" class="member-name-link">driveMotorRampRate</a></code></div>
<div class="col-last even-row-color">
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Optimal voltage of the robot.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-last even-row-color">
<div class="block">Wheel diameter in meters.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
</div>
</div>
</section>
</li>
</ul>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct the swerve module physical characteristics.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;wheelGripCoefficientOfFriction,
double&nbsp;optimalVoltage,
int&nbsp;driveMotorCurrentLimit,
int&nbsp;angleMotorCurrentLimit,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct the swerve module physical characteristics.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
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</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="wheelDiameter">
<h3>wheelDiameter</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">wheelDiameter</span></div>
<div class="block">Wheel diameter in meters.</div>
</section>
</li>
<li>
<section class="detail" id="driveGearRatio">
<h3>driveGearRatio</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">driveGearRatio</span></div>
<div class="block">Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.</div>
</section>
</li>
<li>
<section class="detail" id="angleGearRatio">
<h3>angleGearRatio</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleGearRatio</span></div>
<div class="block">Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.</div>
</section>
</li>
<li>
<section class="detail" id="driveEncoderPulsePerRotation">
<h3>driveEncoderPulsePerRotation</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">driveEncoderPulsePerRotation</span></div>
<div class="block">Drive motor encoder pulse per rotation. 1 if integrated encoder.</div>
</section>
</li>
<li>
<section class="detail" id="angleEncoderPulsePerRotation">
<h3>angleEncoderPulsePerRotation</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">angleEncoderPulsePerRotation</span></div>
<div class="block">Angle motor encoder pulse per rotation. 1 if integrated encoder.</div>
</section>
</li>
<li>
<section class="detail" id="optimalVoltage">
<h3>optimalVoltage</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">optimalVoltage</span></div>
<div class="block">Optimal voltage of the robot.</div>
</section>
</li>
<li>
<section class="detail" id="driveMotorCurrentLimit">
<h3>driveMotorCurrentLimit</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">driveMotorCurrentLimit</span></div>
<div class="block">Current limits for the Swerve Module.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorCurrentLimit">
<h3>angleMotorCurrentLimit</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">angleMotorCurrentLimit</span></div>
<div class="block">Current limits for the Swerve Module.</div>
</section>
</li>
<li>
<section class="detail" id="driveMotorRampRate">
<h3>driveMotorRampRate</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">driveMotorRampRate</span></div>
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorRampRate">
<h3>angleMotorRampRate</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorRampRate</span></div>
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</section>
</li>
<li>
<section class="detail" id="wheelGripCoefficientOfFriction">
<h3>wheelGripCoefficientOfFriction</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">wheelGripCoefficientOfFriction</span></div>
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorFreeSpeedRPM">
<h3>angleMotorFreeSpeedRPM</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorFreeSpeedRPM</span></div>
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
</section>
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<h4>SwerveModulePhysicalCharacteristics</h4>
<pre>public&nbsp;SwerveModulePhysicalCharacteristics&#8203;(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;wheelGripCoefficientOfFriction,
double&nbsp;optimalVoltage,
int&nbsp;driveMotorCurrentLimit,
int&nbsp;angleMotorCurrentLimit,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</pre>
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,double,int,int,double,double,int,int)">
<h3>SwerveModulePhysicalCharacteristics</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;wheelGripCoefficientOfFriction,
double&nbsp;optimalVoltage,
int&nbsp;driveMotorCurrentLimit,
int&nbsp;angleMotorCurrentLimit,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</span></div>
<div class="block">Construct the swerve module physical characteristics.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the
wheel.</dd>
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
@@ -481,27 +331,24 @@ extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/ja
<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
</dl>
</section>
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<h4>SwerveModulePhysicalCharacteristics</h4>
<pre>public&nbsp;SwerveModulePhysicalCharacteristics&#8203;(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</pre>
<li>
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,double,int,int)">
<h3>SwerveModulePhysicalCharacteristics</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</span></div>
<div class="block">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.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.</dd>
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
<dd><code>angleMotorFreeSpeedRPM</code> - Motor free speed rotation per minute.</dd>
@@ -513,76 +360,16 @@ extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/ja
<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
</dl>
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<h2 title="Class SwerveParser" class="title">Class SwerveParser</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser</a></div>
<h1 title="Class SwerveParser" class="title">Class SwerveParser</h1>
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<pre>public class <span class="typeNameLabel">SwerveParser</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveParser</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Helper class used to parse the JSON directory with specified configuration options.</div>
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<td class="colFirst"><code>static <a href="json/ControllerPropertiesJson.html" title="class in swervelib.parser.json">ControllerPropertiesJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#controllerPropertiesJson">controllerPropertiesJson</a></span></code></th>
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<div class="col-first even-row-color"><code>static <a href="json/ControllerPropertiesJson.html" title="class in swervelib.parser.json">ControllerPropertiesJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#controllerPropertiesJson" class="member-name-link">controllerPropertiesJson</a></code></div>
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<div class="block">Parsed controllerproperties.json</div>
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<td class="colFirst"><code>private static <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/HashMap.html?is-external=true" title="class or interface in java.util" class="externalLink">HashMap</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,&#8203;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Integer.html?is-external=true" title="class or interface in java.lang" class="externalLink">Integer</a>&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleConfigs">moduleConfigs</a></span></code></th>
<td class="colLast">&nbsp;</td>
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<td class="colFirst"><code>static <a href="json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleJsons">moduleJsons</a></span></code></th>
<td class="colLast">
<div class="block">Array holding the module jsons given in <a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json"><code>SwerveDriveJson</code></a>.</div>
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<td class="colFirst"><code>static <a href="json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#physicalPropertiesJson">physicalPropertiesJson</a></span></code></th>
<td class="colLast">
<div class="block">Parsed modules/physicalproperties.json</div>
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<td class="colFirst"><code>static <a href="json/PIDFPropertiesJson.html" title="class in swervelib.parser.json">PIDFPropertiesJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pidfPropertiesJson">pidfPropertiesJson</a></span></code></th>
<td class="colLast">
<div class="block">Parsed modules/pidfproperties.json</div>
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<td class="colFirst"><code>static <a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#swerveDriveJson">swerveDriveJson</a></span></code></th>
<td class="colLast">
<div class="block">Parsed swervedrive.json</div>
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<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
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<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(java.io.File)">SwerveParser</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;directory)</code></th>
<td class="colLast">
<div class="block">Construct a swerve parser.</div>
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<h3>Method Summary</h3>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>private void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkDirectory(java.io.File)">checkDirectory</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;directory)</code></th>
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<div class="block">Check directory structure.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createSwerveDrive()">createSwerveDrive</a></span>()</code></th>
<td class="colLast">
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
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<td class="colFirst"><code>static <a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)">getModuleConfigurationByName</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name,
<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</code></th>
<td class="colLast">
<div class="block">Get the swerve module by the json name.</div>
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<tr id="i3" class="rowColor">
<td class="colFirst"><code>private com.fasterxml.jackson.databind.JsonNode</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#openJson(java.io.File)">openJson</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;file)</code></th>
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<div class="block">Open JSON file.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<pre>private static final&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/HashMap.html?is-external=true" title="class or interface in java.util" class="externalLink">HashMap</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,&#8203;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Integer.html?is-external=true" title="class or interface in java.lang" class="externalLink">Integer</a>&gt; moduleConfigs</pre>
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<pre>public static&nbsp;<a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a> swerveDriveJson</pre>
<div class="block">Parsed swervedrive.json</div>
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<pre>public static&nbsp;<a href="json/ControllerPropertiesJson.html" title="class in swervelib.parser.json">ControllerPropertiesJson</a> controllerPropertiesJson</pre>
<div class="block">Parsed controllerproperties.json</div>
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<pre>public static&nbsp;<a href="json/PIDFPropertiesJson.html" title="class in swervelib.parser.json">PIDFPropertiesJson</a> pidfPropertiesJson</pre>
<div class="block">Parsed modules/pidfproperties.json</div>
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<pre>public static&nbsp;<a href="json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a> physicalPropertiesJson</pre>
<div class="block">Parsed modules/physicalproperties.json</div>
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<pre>public static&nbsp;<a href="json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a>[] moduleJsons</pre>
<div class="col-first odd-row-color"><code>private static final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/HashMap.html" title="class or interface in java.util" class="external-link">HashMap</a>&lt;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>,<wbr><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Integer.html" title="class or interface in java.lang" class="external-link">Integer</a>&gt;</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleConfigs" class="member-name-link">moduleConfigs</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Module number mapped to the JSON name.</div>
</div>
<div class="col-first even-row-color"><code>static <a href="json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a>[]</code></div>
<div class="col-second even-row-color"><code><a href="#moduleJsons" class="member-name-link">moduleJsons</a></code></div>
<div class="col-last even-row-color">
<div class="block">Array holding the module jsons given in <a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json"><code>SwerveDriveJson</code></a>.</div>
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<div class="col-first odd-row-color"><code>static <a href="json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></code></div>
<div class="col-second odd-row-color"><code><a href="#physicalPropertiesJson" class="member-name-link">physicalPropertiesJson</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Parsed modules/physicalproperties.json</div>
</div>
<div class="col-first even-row-color"><code>static <a href="json/PIDFPropertiesJson.html" title="class in swervelib.parser.json">PIDFPropertiesJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#pidfPropertiesJson" class="member-name-link">pidfPropertiesJson</a></code></div>
<div class="col-last even-row-color">
<div class="block">Parsed modules/pidfproperties.json</div>
</div>
<div class="col-first odd-row-color"><code>static <a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveDriveJson" class="member-name-link">swerveDriveJson</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Parsed swervedrive.json</div>
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<h4>SwerveParser</h4>
<pre>public&nbsp;SwerveParser&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;directory)
throws <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/IOException.html?is-external=true" title="class or interface in java.io" class="externalLink">IOException</a></pre>
<div class="block">Construct a swerve parser. Will throw an error if there is a missing file.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>directory</code> - Directory with swerve configurations.</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/IOException.html?is-external=true" title="class or interface in java.io" class="externalLink">IOException</a></code></dd>
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<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(java.io.File)" class="member-name-link">SwerveParser</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/File.html" title="class or interface in java.io" class="external-link">File</a>&nbsp;directory)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct a swerve parser.</div>
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<h3>Method Detail</h3>
<a id="getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)">
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<h4>getModuleConfigurationByName</h4>
<pre class="methodSignature">public static&nbsp;<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;getModuleConfigurationByName&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name,
<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</pre>
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<!-- ========== METHOD SUMMARY =========== -->
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<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#checkDirectory(java.io.File)" class="member-name-link">checkDirectory</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/File.html" title="class or interface in java.io" class="external-link">File</a>&nbsp;directory)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Check directory structure.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createSwerveDrive()" class="member-name-link">createSwerveDrive</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">getModuleConfigurationByName</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Get the swerve module by the json name.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private com.fasterxml.jackson.databind.JsonNode</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#openJson(java.io.File)" class="member-name-link">openJson</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/File.html" title="class or interface in java.io" class="external-link">File</a>&nbsp;file)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Open JSON file.</div>
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<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="moduleConfigs">
<h3>moduleConfigs</h3>
<div class="member-signature"><span class="modifiers">private static final</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/HashMap.html" title="class or interface in java.util" class="external-link">HashMap</a>&lt;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>,<wbr><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Integer.html" title="class or interface in java.lang" class="external-link">Integer</a>&gt;</span>&nbsp;<span class="element-name">moduleConfigs</span></div>
<div class="block">Module number mapped to the JSON name.</div>
</section>
</li>
<li>
<section class="detail" id="swerveDriveJson">
<h3>swerveDriveJson</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></span>&nbsp;<span class="element-name">swerveDriveJson</span></div>
<div class="block">Parsed swervedrive.json</div>
</section>
</li>
<li>
<section class="detail" id="controllerPropertiesJson">
<h3>controllerPropertiesJson</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="json/ControllerPropertiesJson.html" title="class in swervelib.parser.json">ControllerPropertiesJson</a></span>&nbsp;<span class="element-name">controllerPropertiesJson</span></div>
<div class="block">Parsed controllerproperties.json</div>
</section>
</li>
<li>
<section class="detail" id="pidfPropertiesJson">
<h3>pidfPropertiesJson</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="json/PIDFPropertiesJson.html" title="class in swervelib.parser.json">PIDFPropertiesJson</a></span>&nbsp;<span class="element-name">pidfPropertiesJson</span></div>
<div class="block">Parsed modules/pidfproperties.json</div>
</section>
</li>
<li>
<section class="detail" id="physicalPropertiesJson">
<h3>physicalPropertiesJson</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></span>&nbsp;<span class="element-name">physicalPropertiesJson</span></div>
<div class="block">Parsed modules/physicalproperties.json</div>
</section>
</li>
<li>
<section class="detail" id="moduleJsons">
<h3>moduleJsons</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a>[]</span>&nbsp;<span class="element-name">moduleJsons</span></div>
<div class="block">Array holding the module jsons given in <a href="json/SwerveDriveJson.html" title="class in swervelib.parser.json"><code>SwerveDriveJson</code></a>.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(java.io.File)">
<h3>SwerveParser</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveParser</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/File.html" title="class or interface in java.io" class="external-link">File</a>&nbsp;directory)</span>
throws <span class="exceptions"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/IOException.html" title="class or interface in java.io" class="external-link">IOException</a></span></div>
<div class="block">Construct a swerve parser. Will throw an error if there is a missing file.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>directory</code> - Directory with swerve configurations.</dd>
<dt>Throws:</dt>
<dd><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/IOException.html" title="class or interface in java.io" class="external-link">IOException</a></code> - if a file doesn't exist.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)">
<h3>getModuleConfigurationByName</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a></span>&nbsp;<span class="element-name">getModuleConfigurationByName</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</span></div>
<div class="block">Get the swerve module by the json name.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>name</code> - JSON name.</dd>
<dd><code>driveConfiguration</code> - <a href="SwerveDriveConfiguration.html" title="class in swervelib.parser"><code>SwerveDriveConfiguration</code></a> to pull from.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd><a href="SwerveModuleConfiguration.html" title="class in swervelib.parser"><code>SwerveModuleConfiguration</code></a> based on the file.</dd>
</dl>
</section>
</li>
</ul>
<a id="openJson(java.io.File)">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>openJson</h4>
<pre class="methodSignature">private&nbsp;com.fasterxml.jackson.databind.JsonNode&nbsp;openJson&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;file)</pre>
<li>
<section class="detail" id="openJson(java.io.File)">
<h3>openJson</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">com.fasterxml.jackson.databind.JsonNode</span>&nbsp;<span class="element-name">openJson</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/File.html" title="class or interface in java.io" class="external-link">File</a>&nbsp;file)</span></div>
<div class="block">Open JSON file.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>file</code> - JSON File to open.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd>JsonNode of file.</dd>
</dl>
</section>
</li>
</ul>
<a id="checkDirectory(java.io.File)">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>checkDirectory</h4>
<pre class="methodSignature">private&nbsp;void&nbsp;checkDirectory&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/File.html?is-external=true" title="class or interface in java.io" class="externalLink">File</a>&nbsp;directory)</pre>
<li>
<section class="detail" id="checkDirectory(java.io.File)">
<h3>checkDirectory</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">checkDirectory</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/File.html" title="class or interface in java.io" class="external-link">File</a>&nbsp;directory)</span></div>
<div class="block">Check directory structure.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>directory</code> - JSON Configuration Directory</dd>
</dl>
</section>
</li>
</ul>
<a id="createSwerveDrive()">
<!-- -->
</a>
<ul class="blockListLast">
<li class="blockList">
<h4>createSwerveDrive</h4>
<pre class="methodSignature">public&nbsp;<a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;createSwerveDrive()</pre>
<li>
<section class="detail" id="createSwerveDrive()">
<h3>createSwerveDrive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></span>&nbsp;<span class="element-name">createSwerveDrive</span>()</div>
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dl class="notes">
<dt>Returns:</dt>
<dd><a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> instance.</dd>
</dl>
</li>
</ul>
</section>
</li>
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View File

@@ -1,330 +1,172 @@
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<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<!-- Generated by javadoc (17) on Tue Feb 14 22:01:24 CST 2023 -->
<title>PIDFRange</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
<meta name="dc.created" content="2023-02-14">
<meta name="description" content="declaration: package: swervelib.parser.deserializer, class: PIDFRange">
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var pathtoroot = "../../../";
var useModuleDirectories = true;
<body class="class-declaration-page">
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.deserializer</a></div>
<h2 title="Class PIDFRange" class="title">Class PIDFRange</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.deserializer</a></div>
<h1 title="Class PIDFRange" class="title">Class PIDFRange</h1>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
<li>
<ul class="inheritance">
<li>swervelib.parser.deserializer.PIDFRange</li>
</ul>
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<div class="description">
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<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.parser.deserializer.PIDFRange</div>
</div>
<section class="class-description" id="class-description">
<hr>
<pre>public class <span class="typeNameLabel">PIDFRange</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">PIDFRange</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Class to hold the minimum and maximum input or output of the PIDF.</div>
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<ul class="summary-list">
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<section>
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</a>
<h3>Field Summary</h3>
<table class="memberSummary">
<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#max">max</a></span></code></th>
<td class="colLast">
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#max" class="member-name-link">max</a></code></div>
<div class="col-last even-row-color">
<div class="block">Maximum value.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#min">min</a></span></code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#min" class="member-name-link">min</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Minimum value.</div>
</td>
</tr>
</table>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PIDFRange</a></span>()</code></th>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h1 title="Package" class="title">Package&nbsp;swervelib.parser.deserializer</h1>
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<div class="block">Class to hold the minimum and maximum input or output of the PIDF.</div>
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<h2 title="Class ControllerPropertiesJson" class="title">Class ControllerPropertiesJson</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.json</a></div>
<h1 title="Class ControllerPropertiesJson" class="title">Class ControllerPropertiesJson</h1>
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<pre>public class <span class="typeNameLabel">ControllerPropertiesJson</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">ControllerPropertiesJson</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block"><a href="../../SwerveController.html" title="class in swervelib"><code>SwerveController</code></a> parsed class. Used to access the JSON data.</div>
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<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angleJoystickRadiusDeadband" class="member-name-link">angleJoystickRadiusDeadband</a></code></div>
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<div class="block">The minimum radius of the angle control joystick to allow for heading adjustment of the robot.</div>
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<td class="colFirst"><code><a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></td>
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<div class="block">The PID used to control the robot heading.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">ControllerPropertiesJson</a></span>()</code></th>
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<td class="colFirst"><code><a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration)">createControllerConfiguration</a></span>&#8203;(<a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</code></th>
<td class="colLast">
<div class="block">Create the <a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> based on parsed and given data.</div>
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<h4>angleJoystickRadiusDeadband</h4>
<pre>public&nbsp;double angleJoystickRadiusDeadband</pre>
<div class="block">The minimum radius of the angle control joystick to allow for heading adjustment of the robot.</div>
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<h4>heading</h4>
<pre>public&nbsp;<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> heading</pre>
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<div class="col-second odd-row-color"><code><a href="#heading" class="member-name-link">heading</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The PID used to control the robot heading.</div>
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<h4>ControllerPropertiesJson</h4>
<pre>public&nbsp;ControllerPropertiesJson()</pre>
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<div class="table-header col-first">Constructor</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">ControllerPropertiesJson</a>()</code></div>
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<h4>createControllerConfiguration</h4>
<pre class="methodSignature">public&nbsp;<a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a>&nbsp;createControllerConfiguration&#8203;(<a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</pre>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">createControllerConfiguration</a><wbr>(<a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create the <a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> based on parsed and given data.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<!-- ============ FIELD DETAIL =========== -->
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<h2>Field Details</h2>
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<section class="detail" id="angleJoystickRadiusDeadband">
<h3>angleJoystickRadiusDeadband</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleJoystickRadiusDeadband</span></div>
<div class="block">The minimum radius of the angle control joystick to allow for heading adjustment of the robot.</div>
</section>
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<li>
<section class="detail" id="heading">
<h3>heading</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></span>&nbsp;<span class="element-name">heading</span></div>
<div class="block">The PID used to control the robot heading.</div>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<h2>Constructor Details</h2>
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<section class="detail" id="&lt;init&gt;()">
<h3>ControllerPropertiesJson</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ControllerPropertiesJson</span>()</div>
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<!-- ============ METHOD DETAIL ========== -->
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<h2>Method Details</h2>
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<section class="detail" id="createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration)">
<h3>createControllerConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></span>&nbsp;<span class="element-name">createControllerConfiguration</span><wbr><span class="parameters">(<a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</span></div>
<div class="block">Create the <a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> based on parsed and given data.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveConfiguration</code> - <a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser"><code>SwerveDriveConfiguration</code></a> parsed configuration.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd><a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object based on parsed data.</dd>
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<h2 title="Class DeviceJson" class="title">Class DeviceJson</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.json</a></div>
<h1 title="Class DeviceJson" class="title">Class DeviceJson</h1>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<div class="inheritance">swervelib.parser.json.DeviceJson</div>
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<hr>
<pre>public class <span class="typeNameLabel">DeviceJson</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">DeviceJson</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Device JSON parsed class. Used to access the JSON data.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#canbus">canbus</a></span></code></th>
<td class="colLast">
<li>
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<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second even-row-color"><code><a href="#canbus" class="member-name-link">canbus</a></code></div>
<div class="col-last even-row-color">
<div class="block">The CAN bus name which the device resides on if using CAN.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#id">id</a></span></code></th>
<td class="colLast">
<div class="block">The CAN ID or pin ID of the device.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#type">type</a></span></code></th>
<td class="colLast">
<div class="block">The device type, e.g.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">DeviceJson</a></span>()</code></th>
<td class="colLast">&nbsp;</td>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createEncoder()">createEncoder</a></span>()</code></th>
<td class="colLast">
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the current configuration.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code><a href="../../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createIMU()">createIMU</a></span>()</code></th>
<td class="colLast">
<div class="block">Create a <a href="../../imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> from the given configuration.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createIntegratedEncoder(swervelib.motors.SwerveMotor)">createIntegratedEncoder</a></span>&#8203;(<a href="../../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;motor)</code></th>
<td class="colLast">
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the data port on the motor controller.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code><a href="../../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createMotor(boolean)">createMotor</a></span>&#8203;(boolean&nbsp;isDriveMotor)</code></th>
<td class="colLast">
<div class="block">Create a <a href="../../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> from the given configuration.</div>
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</a>
<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
</ul>
</li>
</ul>
</section>
</li>
</ul>
</div>
<div class="details">
<ul class="blockList">
<li class="blockList">
<!-- ============ FIELD DETAIL =========== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="field.detail">
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</a>
<h3>Field Detail</h3>
<a id="type">
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</a>
<ul class="blockList">
<li class="blockList">
<h4>type</h4>
<pre>public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> type</pre>
<div class="block">The device type, e.g. pigeon/pigeon2/sparkmax/talonfx/navx</div>
</li>
</ul>
<a id="id">
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</a>
<ul class="blockList">
<li class="blockList">
<h4>id</h4>
<pre>public&nbsp;int id</pre>
<div class="col-first odd-row-color"><code>int</code></div>
<div class="col-second odd-row-color"><code><a href="#id" class="member-name-link">id</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The CAN ID or pin ID of the device.</div>
</li>
</ul>
<a id="canbus">
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<ul class="blockListLast">
<li class="blockList">
<h4>canbus</h4>
<pre>public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a> canbus</pre>
<div class="block">The CAN bus name which the device resides on if using CAN.</div>
</li>
</ul>
</li>
</ul>
</div>
<div class="col-first even-row-color"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second even-row-color"><code><a href="#type" class="member-name-link">type</a></code></div>
<div class="col-last even-row-color">
<div class="block">The device type, e.g.</div>
</div>
</div>
</section>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="constructor.detail">
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</a>
<h3>Constructor Detail</h3>
<a id="&lt;init&gt;()">
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<ul class="blockListLast">
<li class="blockList">
<h4>DeviceJson</h4>
<pre>public&nbsp;DeviceJson()</pre>
</li>
</ul>
</li>
</ul>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">DeviceJson</a>()</code></div>
<div class="col-last even-row-color">&nbsp;</div>
</div>
</section>
<!-- ============ METHOD DETAIL ========== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="method.detail">
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</a>
<h3>Method Detail</h3>
<a id="createEncoder()">
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<li class="blockList">
<h4>createEncoder</h4>
<pre class="methodSignature">public&nbsp;<a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;createEncoder()</pre>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createEncoder()" class="member-name-link">createEncoder</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the current configuration.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createIMU()" class="member-name-link">createIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create a <a href="../../imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> from the given configuration.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createIntegratedEncoder(swervelib.motors.SwerveMotor)" class="member-name-link">createIntegratedEncoder</a><wbr>(<a href="../../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;motor)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the data port on the motor controller.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createMotor(boolean)" class="member-name-link">createMotor</a><wbr>(boolean&nbsp;isDriveMotor)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create a <a href="../../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> from the given configuration.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="type">
<h3>type</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></span>&nbsp;<span class="element-name">type</span></div>
<div class="block">The device type, e.g. pigeon/pigeon2/sparkmax/talonfx/navx</div>
</section>
</li>
<li>
<section class="detail" id="id">
<h3>id</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">id</span></div>
<div class="block">The CAN ID or pin ID of the device.</div>
</section>
</li>
<li>
<section class="detail" id="canbus">
<h3>canbus</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></span>&nbsp;<span class="element-name">canbus</span></div>
<div class="block">The CAN bus name which the device resides on if using CAN.</div>
</section>
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</ul>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>DeviceJson</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">DeviceJson</span>()</div>
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<!-- ============ METHOD DETAIL ========== -->
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<h2>Method Details</h2>
<ul class="member-list">
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<section class="detail" id="createEncoder()">
<h3>createEncoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span>&nbsp;<span class="element-name">createEncoder</span>()</div>
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the current configuration.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> given.</dd>
</dl>
</section>
</li>
</ul>
<a id="createIMU()">
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<h4>createIMU</h4>
<pre class="methodSignature">public&nbsp;<a href="../../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;createIMU()</pre>
<li>
<section class="detail" id="createIMU()">
<h3>createIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span>&nbsp;<span class="element-name">createIMU</span>()</div>
<div class="block">Create a <a href="../../imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> from the given configuration.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dl class="notes">
<dt>Returns:</dt>
<dd><a href="../../imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> given.</dd>
</dl>
</section>
</li>
</ul>
<a id="createMotor(boolean)">
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<ul class="blockList">
<li class="blockList">
<h4>createMotor</h4>
<pre class="methodSignature">public&nbsp;<a href="../../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;createMotor&#8203;(boolean&nbsp;isDriveMotor)</pre>
<li>
<section class="detail" id="createMotor(boolean)">
<h3>createMotor</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></span>&nbsp;<span class="element-name">createMotor</span><wbr><span class="parameters">(boolean&nbsp;isDriveMotor)</span></div>
<div class="block">Create a <a href="../../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> from the given configuration.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>isDriveMotor</code> - If the motor being generated is a drive motor.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd><a href="../../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> given.</dd>
</dl>
</section>
</li>
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<a id="createIntegratedEncoder(swervelib.motors.SwerveMotor)">
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<h4>createIntegratedEncoder</h4>
<pre class="methodSignature">public&nbsp;<a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;createIntegratedEncoder&#8203;(<a href="../../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;motor)</pre>
<li>
<section class="detail" id="createIntegratedEncoder(swervelib.motors.SwerveMotor)">
<h3>createIntegratedEncoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span>&nbsp;<span class="element-name">createIntegratedEncoder</span><wbr><span class="parameters">(<a href="../../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;motor)</span></div>
<div class="block">Create a <a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the data port on the motor controller.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>motor</code> - The motor to create the absolute encoder from.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd><a href="../../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a> from the motor controller.</dd>
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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.json</a></div>
<h2 title="Class ModuleJson" class="title">Class ModuleJson</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.json</a></div>
<h1 title="Class ModuleJson" class="title">Class ModuleJson</h1>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<li>swervelib.parser.json.ModuleJson</li>
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<div class="inheritance">swervelib.parser.json.ModuleJson</div>
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<section class="class-description" id="class-description">
<hr>
<pre>public class <span class="typeNameLabel">ModuleJson</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">ModuleJson</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block"><a href="../../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> JSON parsed class. Used to access the JSON data.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
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<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoderInverted">absoluteEncoderInverted</a></span></code></th>
<td class="colLast">
<li>
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<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>boolean</code></div>
<div class="col-second even-row-color"><code><a href="#absoluteEncoderInverted" class="member-name-link">absoluteEncoderInverted</a></code></div>
<div class="col-last even-row-color">
<div class="block">Absolute encoder inversion state.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoderOffset">absoluteEncoderOffset</a></span></code></th>
<td class="colLast">
<div class="block">Absolute encoder offset from 0 in degrees.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
<td class="colLast">
<div class="block">Angle motor device configuration.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
<td class="colLast">
<div class="block">Drive motor device configuration.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoder">encoder</a></span></code></th>
<td class="colLast">
<div class="block">Absolute encoder device configuration.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="modules/BoolMotorJson.html" title="class in swervelib.parser.json.modules">BoolMotorJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#inverted">inverted</a></span></code></th>
<td class="colLast">
<div class="block">Defines which motors are inverted.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#location">location</a></span></code></th>
<td class="colLast">
<div class="block">The location of the swerve module from the center of the robot in inches.</div>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">ModuleJson</a></span>()</code></th>
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<tr id="i0" class="altColor">
<td class="colFirst"><code><a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)">createModuleConfiguration</a></span>&#8203;(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</code></th>
<td class="colLast">
<div class="block">Create the swerve module configuration based off of parsed data.</div>
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<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h3>Field Detail</h3>
<a id="drive">
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<h4>drive</h4>
<pre>public&nbsp;<a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a> drive</pre>
<div class="block">Drive motor device configuration.</div>
</li>
</ul>
<a id="angle">
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<h4>angle</h4>
<pre>public&nbsp;<a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a> angle</pre>
<div class="block">Angle motor device configuration.</div>
</li>
</ul>
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<h4>encoder</h4>
<pre>public&nbsp;<a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a> encoder</pre>
<div class="block">Absolute encoder device configuration.</div>
</li>
</ul>
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<h4>inverted</h4>
<pre>public&nbsp;<a href="modules/BoolMotorJson.html" title="class in swervelib.parser.json.modules">BoolMotorJson</a> inverted</pre>
<div class="block">Defines which motors are inverted.</div>
</li>
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<a id="absoluteEncoderOffset">
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<h4>absoluteEncoderOffset</h4>
<pre>public&nbsp;double absoluteEncoderOffset</pre>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#absoluteEncoderOffset" class="member-name-link">absoluteEncoderOffset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Absolute encoder offset from 0 in degrees.</div>
</li>
</ul>
<a id="absoluteEncoderInverted">
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<h4>absoluteEncoderInverted</h4>
<pre>public&nbsp;boolean absoluteEncoderInverted</pre>
<div class="block">Absolute encoder inversion state.</div>
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<h4>location</h4>
<pre>public&nbsp;<a href="modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a> location</pre>
</div>
<div class="col-first even-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#angle" class="member-name-link">angle</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor device configuration.</div>
</div>
<div class="col-first odd-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second odd-row-color"><code><a href="#drive" class="member-name-link">drive</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Drive motor device configuration.</div>
</div>
<div class="col-first even-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#encoder" class="member-name-link">encoder</a></code></div>
<div class="col-last even-row-color">
<div class="block">Absolute encoder device configuration.</div>
</div>
<div class="col-first odd-row-color"><code><a href="modules/BoolMotorJson.html" title="class in swervelib.parser.json.modules">BoolMotorJson</a></code></div>
<div class="col-second odd-row-color"><code><a href="#inverted" class="member-name-link">inverted</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Defines which motors are inverted.</div>
</div>
<div class="col-first even-row-color"><code><a href="modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#location" class="member-name-link">location</a></code></div>
<div class="col-last even-row-color">
<div class="block">The location of the swerve module from the center of the robot in inches.</div>
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<h4>ModuleJson</h4>
<pre>public&nbsp;ModuleJson()</pre>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">ModuleJson</a>()</code></div>
<div class="col-last even-row-color">&nbsp;</div>
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<h3>Method Detail</h3>
<a id="createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)">
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<h4>createModuleConfiguration</h4>
<pre class="methodSignature">public&nbsp;<a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>&nbsp;createModuleConfiguration&#8203;(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</pre>
</li>
<!-- ========== METHOD SUMMARY =========== -->
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<h2>Method Summary</h2>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)" class="member-name-link">createModuleConfiguration</a><wbr>(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create the swerve module configuration based off of parsed data.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
</div>
</div>
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<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<!-- ============ FIELD DETAIL =========== -->
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<h2>Field Details</h2>
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<li>
<section class="detail" id="drive">
<h3>drive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></span>&nbsp;<span class="element-name">drive</span></div>
<div class="block">Drive motor device configuration.</div>
</section>
</li>
<li>
<section class="detail" id="angle">
<h3>angle</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></span>&nbsp;<span class="element-name">angle</span></div>
<div class="block">Angle motor device configuration.</div>
</section>
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<section class="detail" id="encoder">
<h3>encoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></span>&nbsp;<span class="element-name">encoder</span></div>
<div class="block">Absolute encoder device configuration.</div>
</section>
</li>
<li>
<section class="detail" id="inverted">
<h3>inverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="modules/BoolMotorJson.html" title="class in swervelib.parser.json.modules">BoolMotorJson</a></span>&nbsp;<span class="element-name">inverted</span></div>
<div class="block">Defines which motors are inverted.</div>
</section>
</li>
<li>
<section class="detail" id="absoluteEncoderOffset">
<h3>absoluteEncoderOffset</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">absoluteEncoderOffset</span></div>
<div class="block">Absolute encoder offset from 0 in degrees.</div>
</section>
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<section class="detail" id="absoluteEncoderInverted">
<h3>absoluteEncoderInverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">absoluteEncoderInverted</span></div>
<div class="block">Absolute encoder inversion state.</div>
</section>
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<h3>location</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></span>&nbsp;<span class="element-name">location</span></div>
<div class="block">The location of the swerve module from the center of the robot in inches.</div>
</section>
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<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>ModuleJson</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ModuleJson</span>()</div>
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<!-- ============ METHOD DETAIL ========== -->
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<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)">
<h3>createModuleConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></span>&nbsp;<span class="element-name">createModuleConfiguration</span><wbr><span class="parameters">(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</span></div>
<div class="block">Create the swerve module configuration based off of parsed data.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>anglePIDF</code> - The PIDF values for the angle motor.</dd>
<dd><code>velocityPIDF</code> - The velocity PIDF values for the drive motor.</dd>
<dd><code>maxSpeed</code> - The maximum speed of the robot in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd><a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser"><code>SwerveModuleConfiguration</code></a> based on the provided data and parsed data.</dd>
</dl>
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<h2 title="Class MotorConfigDouble" class="title">Class MotorConfigDouble</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.json</a></div>
<h1 title="Class MotorConfigDouble" class="title">Class MotorConfigDouble</h1>
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<ul class="inheritance">
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<div class="inheritance">swervelib.parser.json.MotorConfigDouble</div>
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<pre>class <span class="typeNameLabel">MotorConfigDouble</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">class </span><span class="element-name type-name-label">MotorConfigDouble</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Used to store doubles for motor configuration.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
<td class="colLast">
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angle" class="member-name-link">angle</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
<td class="colLast">
<div class="block">Drive motor.</div>
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<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">MotorConfigDouble</a></span>()</code></th>
<td class="colLast">
<div class="block">Default constructor.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double)">MotorConfigDouble</a></span>&#8203;(double&nbsp;angle,
double&nbsp;drive)</code></th>
<td class="colLast">
<div class="block">Default constructor.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>drive</h4>
<pre>public&nbsp;double drive</pre>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#drive" class="member-name-link">drive</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Drive motor.</div>
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<h4>angle</h4>
<pre>public&nbsp;double angle</pre>
<div class="block">Angle motor.</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">MotorConfigDouble</a>()</code></div>
<div class="col-last even-row-color">
<div class="block">Default constructor.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double)" class="member-name-link">MotorConfigDouble</a><wbr>(double&nbsp;angle,
double&nbsp;drive)</code></div>
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<div class="block">Default constructor.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<h4>MotorConfigDouble</h4>
<pre>public&nbsp;MotorConfigDouble()</pre>
<div class="block">Default constructor.</div>
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<!-- ============ FIELD DETAIL =========== -->
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<h2>Field Details</h2>
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<section class="detail" id="drive">
<h3>drive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">drive</span></div>
<div class="block">Drive motor.</div>
</section>
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<section class="detail" id="angle">
<h3>angle</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angle</span></div>
<div class="block">Angle motor.</div>
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<h4>MotorConfigDouble</h4>
<pre>public&nbsp;MotorConfigDouble&#8203;(double&nbsp;angle,
double&nbsp;drive)</pre>
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<h3>MotorConfigDouble</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">MotorConfigDouble</span>()</div>
<div class="block">Default constructor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
</section>
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<h3>MotorConfigDouble</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">MotorConfigDouble</span><wbr><span class="parameters">(double&nbsp;angle,
double&nbsp;drive)</span></div>
<div class="block">Default constructor.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>angle</code> - Angle data.</dd>
<dd><code>drive</code> - Drive data.</dd>
</dl>
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<h2 title="Class MotorConfigInt" class="title">Class MotorConfigInt</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.json</a></div>
<h1 title="Class MotorConfigInt" class="title">Class MotorConfigInt</h1>
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<ul class="inheritance">
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<hr>
<pre>class <span class="typeNameLabel">MotorConfigInt</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">class </span><span class="element-name type-name-label">MotorConfigInt</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Used to store ints for motor configuration.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
<td class="colFirst"><code>int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
<td class="colLast">
<li>
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<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>int</code></div>
<div class="col-second even-row-color"><code><a href="#angle" class="member-name-link">angle</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>int</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
<td class="colLast">
<div class="block">Drive motor.</div>
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<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">MotorConfigInt</a></span>()</code></th>
<td class="colLast">
<div class="block">Default constructor.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,int)">MotorConfigInt</a></span>&#8203;(int&nbsp;drive,
int&nbsp;angle)</code></th>
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<div class="block">Default constructor with values.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>drive</h4>
<pre>public&nbsp;int drive</pre>
<div class="col-first odd-row-color"><code>int</code></div>
<div class="col-second odd-row-color"><code><a href="#drive" class="member-name-link">drive</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Drive motor.</div>
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<h4>angle</h4>
<pre>public&nbsp;int angle</pre>
<div class="block">Angle motor.</div>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">MotorConfigInt</a>()</code></div>
<div class="col-last even-row-color">
<div class="block">Default constructor.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(int,int)" class="member-name-link">MotorConfigInt</a><wbr>(int&nbsp;drive,
int&nbsp;angle)</code></div>
<div class="col-last odd-row-color">
<div class="block">Default constructor with values.</div>
</div>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<h4>MotorConfigInt</h4>
<pre>public&nbsp;MotorConfigInt()</pre>
<div class="block">Default constructor.</div>
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<h3>drive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">drive</span></div>
<div class="block">Drive motor.</div>
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<h3>angle</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">angle</span></div>
<div class="block">Angle motor.</div>
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<h4>MotorConfigInt</h4>
<pre>public&nbsp;MotorConfigInt&#8203;(int&nbsp;drive,
int&nbsp;angle)</pre>
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<h3>MotorConfigInt</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">MotorConfigInt</span>()</div>
<div class="block">Default constructor.</div>
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<h3>MotorConfigInt</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">MotorConfigInt</span><wbr><span class="parameters">(int&nbsp;drive,
int&nbsp;angle)</span></div>
<div class="block">Default constructor with values.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>drive</code> - Drive data.</dd>
<dd><code>angle</code> - Angle data.</dd>
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<h2 title="Class PIDFPropertiesJson" class="title">Class PIDFPropertiesJson</h2>
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<h1 title="Class PIDFPropertiesJson" class="title">Class PIDFPropertiesJson</h1>
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<pre>public class <span class="typeNameLabel">PIDFPropertiesJson</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">PIDFPropertiesJson</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block"><a href="../../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> PID with Feedforward for the drive motor and angle motor.</div>
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<td class="colFirst"><code><a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
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<h2>Field Summary</h2>
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<div class="table-header col-second">Field</div>
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<div class="col-first even-row-color"><code><a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second even-row-color"><code><a href="#angle" class="member-name-link">angle</a></code></div>
<div class="col-last even-row-color">
<div class="block">The PIDF with Integral Zone used for the angle motor.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color"><code><a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second odd-row-color"><code><a href="#drive" class="member-name-link">drive</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The PIDF with Integral Zone used for the drive motor.</div>
</td>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PIDFPropertiesJson</a></span>()</code></th>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">PIDFPropertiesJson</a>()</code></div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<pre>public&nbsp;<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> drive</pre>
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<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></span>&nbsp;<span class="element-name">drive</span></div>
<div class="block">The PIDF with Integral Zone used for the drive motor.</div>
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<pre>public&nbsp;<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> angle</pre>
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<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></span>&nbsp;<span class="element-name">angle</span></div>
<div class="block">The PIDF with Integral Zone used for the angle motor.</div>
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<pre>public&nbsp;PIDFPropertiesJson()</pre>
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<h3>PIDFPropertiesJson</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PIDFPropertiesJson</span>()</div>
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<h2 title="Class PhysicalPropertiesJson" class="title">Class PhysicalPropertiesJson</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.json</a></div>
<h1 title="Class PhysicalPropertiesJson" class="title">Class PhysicalPropertiesJson</h1>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<pre>public class <span class="typeNameLabel">PhysicalPropertiesJson</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">PhysicalPropertiesJson</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block"><a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser"><code>SwerveModulePhysicalCharacteristics</code></a> parsed data. Used to configure the SwerveModule.</div>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorFreeSpeedRPM">angleMotorFreeSpeedRPM</a></span></code></th>
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<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor free speed rotations per minute.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#currentLimit">currentLimit</a></span></code></th>
<td class="colLast">
<div class="block">The current limit in AMPs to apply to the motors.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#encoderPulsePerRotation">encoderPulsePerRotation</a></span></code></th>
<td class="colLast">
<div class="block">Encoder pulse per rotation for non-integrated encoders.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#gearRatio">gearRatio</a></span></code></th>
<td class="colLast">
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#rampRate">rampRate</a></span></code></th>
<td class="colLast">
<div class="block">The minimum number of seconds to take for the motor to go from 0 to full throttle.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelDiameter">wheelDiameter</a></span></code></th>
<td class="colLast">
<div class="block">Wheel diameter in inches.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelGripCoefficientOfFriction">wheelGripCoefficientOfFriction</a></span></code></th>
<td class="colLast">
<div class="block">The grip tape coefficient of friction on carpet.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PhysicalPropertiesJson</a></span>()</code></th>
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<td class="colFirst"><code><a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createPhysicalProperties(double)">createPhysicalProperties</a></span>&#8203;(double&nbsp;optimalVoltage)</code></th>
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<div class="block">Create the physical characteristics based off the parsed data.</div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h4>wheelDiameter</h4>
<pre>public&nbsp;double wheelDiameter</pre>
<div class="block">Wheel diameter in inches.</div>
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<h4>gearRatio</h4>
<pre>public&nbsp;<a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a> gearRatio</pre>
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
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<h4>encoderPulsePerRotation</h4>
<pre>public&nbsp;<a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a> encoderPulsePerRotation</pre>
<div class="block">Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.</div>
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<h4>currentLimit</h4>
<pre>public&nbsp;<a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a> currentLimit</pre>
<div class="col-first odd-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second odd-row-color"><code><a href="#currentLimit" class="member-name-link">currentLimit</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The current limit in AMPs to apply to the motors.</div>
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<h4>rampRate</h4>
<pre>public&nbsp;<a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a> rampRate</pre>
</div>
<div class="col-first even-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second even-row-color"><code><a href="#encoderPulsePerRotation" class="member-name-link">encoderPulsePerRotation</a></code></div>
<div class="col-last even-row-color">
<div class="block">Encoder pulse per rotation for non-integrated encoders.</div>
</div>
<div class="col-first odd-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second odd-row-color"><code><a href="#gearRatio" class="member-name-link">gearRatio</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
</div>
<div class="col-first even-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second even-row-color"><code><a href="#rampRate" class="member-name-link">rampRate</a></code></div>
<div class="col-last even-row-color">
<div class="block">The minimum number of seconds to take for the motor to go from 0 to full throttle.</div>
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<a id="wheelGripCoefficientOfFriction">
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<h4>wheelGripCoefficientOfFriction</h4>
<pre>public&nbsp;double wheelGripCoefficientOfFriction</pre>
<div class="block">The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.</div>
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<a id="angleMotorFreeSpeedRPM">
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<h4>angleMotorFreeSpeedRPM</h4>
<pre>public&nbsp;double angleMotorFreeSpeedRPM</pre>
<div class="block">Angle motor free speed rotations per minute.</div>
</li>
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</li>
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</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Wheel diameter in inches.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last even-row-color">
<div class="block">The grip tape coefficient of friction on carpet.</div>
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<h4>PhysicalPropertiesJson</h4>
<pre>public&nbsp;PhysicalPropertiesJson()</pre>
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<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
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<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">PhysicalPropertiesJson</a>()</code></div>
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<h4>createPhysicalProperties</h4>
<pre class="methodSignature">public&nbsp;<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;createPhysicalProperties&#8203;(double&nbsp;optimalVoltage)</pre>
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<!-- ========== METHOD SUMMARY =========== -->
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<h2>Method Summary</h2>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createPhysicalProperties(double)" class="member-name-link">createPhysicalProperties</a><wbr>(double&nbsp;optimalVoltage)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create the physical characteristics based off the parsed data.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<!-- ============ FIELD DETAIL =========== -->
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<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="wheelDiameter">
<h3>wheelDiameter</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">wheelDiameter</span></div>
<div class="block">Wheel diameter in inches.</div>
</section>
</li>
<li>
<section class="detail" id="gearRatio">
<h3>gearRatio</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></span>&nbsp;<span class="element-name">gearRatio</span></div>
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
</section>
</li>
<li>
<section class="detail" id="encoderPulsePerRotation">
<h3>encoderPulsePerRotation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></span>&nbsp;<span class="element-name">encoderPulsePerRotation</span></div>
<div class="block">Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.</div>
</section>
</li>
<li>
<section class="detail" id="currentLimit">
<h3>currentLimit</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></span>&nbsp;<span class="element-name">currentLimit</span></div>
<div class="block">The current limit in AMPs to apply to the motors.</div>
</section>
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<section class="detail" id="rampRate">
<h3>rampRate</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></span>&nbsp;<span class="element-name">rampRate</span></div>
<div class="block">The minimum number of seconds to take for the motor to go from 0 to full throttle.</div>
</section>
</li>
<li>
<section class="detail" id="wheelGripCoefficientOfFriction">
<h3>wheelGripCoefficientOfFriction</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">wheelGripCoefficientOfFriction</span></div>
<div class="block">The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorFreeSpeedRPM">
<h3>angleMotorFreeSpeedRPM</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorFreeSpeedRPM</span></div>
<div class="block">Angle motor free speed rotations per minute.</div>
</section>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<h2>Constructor Details</h2>
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<section class="detail" id="&lt;init&gt;()">
<h3>PhysicalPropertiesJson</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">PhysicalPropertiesJson</span>()</div>
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<h2>Method Details</h2>
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<section class="detail" id="createPhysicalProperties(double)">
<h3>createPhysicalProperties</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></span>&nbsp;<span class="element-name">createPhysicalProperties</span><wbr><span class="parameters">(double&nbsp;optimalVoltage)</span></div>
<div class="block">Create the physical characteristics based off the parsed data.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>optimalVoltage</code> - Optimal voltage to compensate for and use to calculate drive motor feedforward.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dt>Returns:</dt>
<dd><a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser"><code>SwerveModulePhysicalCharacteristics</code></a> based on parsed data.</dd>
</dl>
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<h2 title="Class SwerveDriveJson" class="title">Class SwerveDriveJson</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.json</a></div>
<h1 title="Class SwerveDriveJson" class="title">Class SwerveDriveJson</h1>
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<pre>public class <span class="typeNameLabel">SwerveDriveJson</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveDriveJson</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block"><a href="../../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> JSON parsed class. Used to access parsed data from the swervedrive.json file.</div>
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</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
<td class="colLast">
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
<div class="col-last even-row-color">
<div class="block">Robot IMU used to determine heading of the robot.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#invertedIMU">invertedIMU</a></span></code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color"><code>boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Invert the IMU of the robot.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxSpeed">maxSpeed</a></span></code></th>
<td class="colLast">
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last even-row-color">
<div class="block">Maximum robot speed in feet per second.</div>
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</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>[]</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#modules">modules</a></span></code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#modules" class="member-name-link">modules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Module JSONs in order clockwise order starting from front left.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimalVoltage">optimalVoltage</a></span></code></th>
<td class="colLast">
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
<div class="col-last even-row-color">
<div class="block">Optimal voltage to compensate to and base feedforward calculations off of.</div>
</td>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveDriveJson</a></span>()</code></th>
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<h2>Constructor Summary</h2>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<h4>maxSpeed</h4>
<pre>public&nbsp;double maxSpeed</pre>
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<h2>Field Details</h2>
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<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Maximum robot speed in feet per second.</div>
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<h4>optimalVoltage</h4>
<pre>public&nbsp;double optimalVoltage</pre>
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<h3>optimalVoltage</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">optimalVoltage</span></div>
<div class="block">Optimal voltage to compensate to and base feedforward calculations off of.</div>
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<h4>imu</h4>
<pre>public&nbsp;<a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a> imu</pre>
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<h3>imu</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></span>&nbsp;<span class="element-name">imu</span></div>
<div class="block">Robot IMU used to determine heading of the robot.</div>
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<h4>invertedIMU</h4>
<pre>public&nbsp;boolean invertedIMU</pre>
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<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Invert the IMU of the robot.</div>
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<h4>modules</h4>
<pre>public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>[] modules</pre>
<li>
<section class="detail" id="modules">
<h3>modules</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>[]</span>&nbsp;<span class="element-name">modules</span></div>
<div class="block">Module JSONs in order clockwise order starting from front left.</div>
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<h4>SwerveDriveJson</h4>
<pre>public&nbsp;SwerveDriveJson()</pre>
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<h2>Constructor Details</h2>
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<section class="detail" id="&lt;init&gt;()">
<h3>SwerveDriveJson</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDriveJson</span>()</div>
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<hr>
<pre>public class <span class="typeNameLabel">BoolMotorJson</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">BoolMotorJson</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Inverted motor JSON parsed class. Used to access the JSON data.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
<td class="colLast">
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<h2>Field Summary</h2>
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<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>boolean</code></div>
<div class="col-second even-row-color"><code><a href="#angle" class="member-name-link">angle</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor inversion state.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#drive">drive</a></span></code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color"><code>boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#drive" class="member-name-link">drive</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Drive motor inversion state.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">BoolMotorJson</a></span>()</code></th>
<td class="colLast">&nbsp;</td>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">BoolMotorJson</a>()</code></div>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<h4>drive</h4>
<pre>public&nbsp;boolean drive</pre>
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<section class="detail" id="drive">
<h3>drive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">drive</span></div>
<div class="block">Drive motor inversion state.</div>
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<h4>angle</h4>
<pre>public&nbsp;boolean angle</pre>
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<h3>angle</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">angle</span></div>
<div class="block">Angle motor inversion state.</div>
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<h4>BoolMotorJson</h4>
<pre>public&nbsp;BoolMotorJson()</pre>
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<h2>Constructor Details</h2>
<ul class="member-list">
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<section class="detail" id="&lt;init&gt;()">
<h3>BoolMotorJson</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">BoolMotorJson</span>()</div>
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View File

@@ -1,331 +1,173 @@
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<h2 title="Class LocationJson" class="title">Class LocationJson</h2>
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser.json.modules</a></div>
<h1 title="Class LocationJson" class="title">Class LocationJson</h1>
</div>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<hr>
<pre>public class <span class="typeNameLabel">LocationJson</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">LocationJson</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">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.</div>
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<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#x">x</a></span></code></th>
<td class="colLast">
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#x" class="member-name-link">x</a></code></div>
<div class="col-last even-row-color">
<div class="block">Location of the swerve module in inches from the center of the robot horizontally.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#y">y</a></span></code></th>
<td class="colLast">
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#y" class="member-name-link">y</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Location of the swerve module in inches from the center of the robot vertically.</div>
</td>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">LocationJson</a></span>()</code></th>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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<div class="block"><a href="../../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> JSON parsed class.</div>
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<div class="block"><a href="../../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> PID with Feedforward for the drive motor and angle motor.</div>
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<div class="block"><a href="../../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> JSON parsed class.</div>
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<h1 title="Package" class="title">Package&nbsp;swervelib.parser</h1>
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<div class="block">Hold the PIDF and Integral Zone values for a PID.</div>
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<div class="block">Swerve Controller configuration class which is used to configure <a href="../SwerveController.html" title="class in swervelib"><code>SwerveController</code></a>.</div>
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<div class="block">Swerve drive configurations used during SwerveDrive construction.</div>
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<div class="block">Swerve Module configuration class which is used to configure <a href="../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>.</div>
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<div class="block">Configuration class which stores physical characteristics shared between every swerve module.</div>
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<th class="colFirst" scope="row"><a href="SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></th>
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<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwerveParser.html" title="class in swervelib.parser">SwerveParser</a></div>
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<div class="block">Helper class used to parse the JSON directory with specified configuration options.</div>
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