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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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29
docs/swervelib/SwerveController.html
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@@ -1,7 +1,7 @@
<!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">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -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>