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Updated swervelib documentation and merged @7910f6ba7ee4 PR

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thenetworkgrinch
2023-02-14 22:03:02 -06:00
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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="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveMath</a></span>()</code></th>
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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="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-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>
</td>
</tr>
<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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<h4>SwerveMath</h4>
<pre>public&nbsp;SwerveMath()</pre>
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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#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>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>
</li>
</ul>
<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>
</li>
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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>
</section>
</li>
</ul>
<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>
</section>
</li>
</ul>
<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>
</section>
</li>
</ul>
<a id="calculateMaxAcceleration(double)">
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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>
</section>
</li>
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<a id="calculateMaxAcceleration(double,double,double,double,double)">
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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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