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Added heading angular velocity deadband from 1466

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thenetworkgrinch
2023-02-23 22:46:43 -06:00
parent b484ed9bc0
commit 9b699291e8
107 changed files with 197 additions and 130 deletions
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@@ -61,6 +61,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Last angle as a scalar [-1,1] the robot was set to.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">The last heading set in radians.</div>
</dd>
<dt><a href="../swervelib/simulation/SwerveIMUSimulation.html#lastTime" class="member-name-link">lastTime</a> - Variable in class swervelib.simulation.<a href="../swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></dt>
<dd>
<div class="block">The last time the timer was read, used to determine position changes.</div>

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<dd>
<div class="block">The PID used to control the robot heading.</div>
</dd>
<dt><a href="../swervelib/SwerveController.html#headingCalculate(double,double)" class="member-name-link">headingCalculate(double, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveController.html" title="class in swervelib">SwerveController</a></dt>
<dd>
<div class="block">Calculate the angular velocity given the current and target heading angle in radians.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveControllerConfiguration.html#headingPIDF" class="member-name-link">headingPIDF</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></dt>
<dd>
<div class="block">PIDF for the heading of the robot.</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>SwerveController</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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@@ -196,10 +196,16 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-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 even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second even-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-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="#headingCalculate(double,double)" class="member-name-link">headingCalculate</a><wbr>(double&nbsp;currentHeadingAngleRadians,
double&nbsp;targetHeadingAngleRadians)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Calculate the angular velocity given the current and target heading angle in radians.</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>
@@ -412,6 +418,21 @@ loadScripts(document, 'script');</script>
</dl>
</section>
</li>
<li>
<section class="detail" id="headingCalculate(double,double)">
<h3>headingCalculate</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">headingCalculate</span><wbr><span class="parameters">(double&nbsp;currentHeadingAngleRadians,
double&nbsp;targetHeadingAngleRadians)</span></div>
<div class="block">Calculate the angular velocity given the current and target heading angle in radians.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>currentHeadingAngleRadians</code> - The current heading of the robot in radians.</dd>
<dd><code>targetHeadingAngleRadians</code> - The target heading of the robot in radians.</dd>
<dt>Returns:</dt>
<dd>Angular velocity in radians per second.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -106,34 +106,39 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
</div>
<div class="col-first odd-row-color"><code>private int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The last heading set in radians.</div>
</div>
<div class="col-first even-row-color"><code>private int</code></div>
<div class="col-second even-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
<div class="col-last even-row-color">
<div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
</div>
<div class="col-first even-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
<div class="col-second even-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
<div class="col-second odd-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Simulation of the swerve drive.</div>
</div>
<div class="col-first odd-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
<div class="col-second even-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve controller for controlling heading of the robot.</div>
</div>
<div class="col-first even-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
<div class="col-second even-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve drive configuration.</div>
</div>
<div class="col-first odd-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
<div class="col-second odd-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
<div class="col-second even-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve odometry.</div>
</div>
<div class="col-first even-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second even-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve modules.</div>
</div>
</div>
@@ -363,6 +368,13 @@ loadScripts(document, 'script');</script>
<div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
</section>
</li>
<li>
<section class="detail" id="lastHeadingRadians">
<h3>lastHeadingRadians</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">lastHeadingRadians</span></div>
<div class="block">The last heading set in radians.</div>
</section>
</li>
</ul>
</section>
</li>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>SwerveModule</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>AnalogAbsoluteEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>CANCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>SparkMaxEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>SwerveAbsoluteEncoder</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>swervelib.encoders</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>swervelib.encoders Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>ADIS16448Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>ADIS16470Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>ADXRS450Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>AnalogGyroSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>Pigeon2Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>PigeonSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>swervelib.imu</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>swervelib.imu Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>SwerveKinematics2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>SwerveMath</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>SwerveModuleState2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>swervelib.math</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>swervelib.math Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>SparkMaxSwerve.SparkMAX_slotIdx</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
<!-- Generated by javadoc (17) on Thu Feb 23 22:46:09 CST 2023 -->
<title>SparkMaxSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>SwerveMotor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>TalonFXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>TalonSRXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>swervelib.motors</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>swervelib.motors Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>swervelib</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>swervelib Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>PIDFConfig</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>SwerveControllerConfiguration</title>
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<head>
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<title>SwerveDriveConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
<!-- Generated by javadoc (17) on Thu Feb 23 22:15:41 CST 2023 -->
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<title>SwerveModuleConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>SwerveModulePhysicalCharacteristics</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>SwerveParser</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>PIDFRange</title>
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<title>swervelib.parser.deserializer</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib.parser.deserializer Class Hierarchy</title>
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<title>ControllerPropertiesJson</title>
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<title>DeviceJson</title>
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<title>ModuleJson</title>
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<title>MotorConfigDouble</title>
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<title>MotorConfigInt</title>
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<title>PIDFPropertiesJson</title>
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