diff --git a/README.md.bak b/README.md.bak deleted file mode 100644 index 6c28e5c..0000000 --- a/README.md.bak +++ /dev/null @@ -1,24 +0,0 @@ -# Yet Another Generic Swerve Library -* In early 2023 `swerve-lib` created by SwerveDriveSpecialties officially became unmaintained after not being updated in 2022. -* This library aims to simplify Swerve Drive implementations while not sacrificing speed or processing power. - -# Features -* When a compatible absolute encoder is given it will be used as a remote encoder for the steering motor reducing CAN messages. -* Autogenerated shuffleboard dashboard for each module which can be updated periodically with the verbosity setting. -* The swerve drive is configurable via JSON files, and you can initialize the entire swerve drive with a similar line as the following. -* Simulation support. -```java -SwerveDrive swerveDrive = new SwerveParser(new File(Filesystem.getDeployDirectory(), "swerve")).createSwerveDrive(); -``` - -# Library Information -* The library is located in [swervelib/](./swervelib) with documentation in [docs/](./docs) and example JSON in [deploy](./deploy). - -# Check out the [Wiki](https://github.com/BroncBotz3481/YAGSL/wiki) -# Java docs is [here](https://broncbotz3481.github.io/YAGSL/). - -# Images -![Field Shuffleboard](./imgaes/field.png) -![Simulation](./imgaes/simulation.png) -![Falcon Drive](./imgaes/swerve_falcons_fix.mov) -![Dashboard as graphs](./imgaes/swerve_neos.mp4) diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index faef0d7..e649b76 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,7 +1,7 @@ - + All Classes and Interfaces diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 2026fd4..1f0c307 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,7 +1,7 @@ - + All Packages diff --git a/docs/constant-values.html b/docs/constant-values.html index 1f7598d..5107341 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,7 +1,7 @@ - + Constant Field Values diff --git a/docs/help-doc.html b/docs/help-doc.html index 01b5e9e..e00e8c6 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,7 +1,7 @@ - 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+ SwerveControllerConfiguration diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index 1e67168..6b8d7dd 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,7 +1,7 @@ - + SwerveDriveConfiguration diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index 0711306..0c2d939 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,7 +1,7 @@ - + SwerveModuleConfiguration diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 36bbbff..921c6f8 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,7 +1,7 @@ - + SwerveModulePhysicalCharacteristics diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index f49ae9c..72e0d81 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,7 +1,7 @@ - + SwerveParser diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 14f6763..64f5efc 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,7 +1,7 @@ - + PIDFRange diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index 2eb08fa..09b0630 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser.deserializer diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index 997078e..5c0eab4 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser.deserializer Class Hierarchy diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index d008de9..c5b16a8 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,7 +1,7 @@ - + ControllerPropertiesJson diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index 7929e5b..65f2ff8 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,7 +1,7 @@ - + DeviceJson diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index 3f5e88e..ea95110 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,7 +1,7 @@ - + ModuleJson diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index 88632ed..7797545 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,7 +1,7 @@ - + MotorConfigDouble diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index 8eb0a0b..0892abf 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,7 +1,7 @@ - + MotorConfigInt diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index abf8747..e564d98 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,7 +1,7 @@ - + PIDFPropertiesJson diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index 35bcfd5..43ee60e 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,7 +1,7 @@ - + PhysicalPropertiesJson diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 58a4688..3affd60 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,7 +1,7 @@ - + SwerveDriveJson diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index 9079178..66e26a4 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,7 +1,7 @@ - + BoolMotorJson diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index c5fecd8..1eba0ef 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,7 +1,7 @@ - + LocationJson diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index dcca564..8849660 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser.json.modules diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index fed5886..d93dcb4 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser.json.modules Class Hierarchy diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index 3f3f76c..ddce40e 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser.json diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index ab18284..c0cb89b 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser.json Class Hierarchy diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index b0c7de0..2acd428 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.parser diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index a030596..d49e5a0 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.parser Class Hierarchy diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index 9951345..0bf9042 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,7 +1,7 @@ - + SwerveIMUSimulation diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index ac7a81c..1cad476 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,7 +1,7 @@ - + SwerveModuleSimulation diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html index dbb9e72..ac4726b 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html @@ -1,7 +1,7 @@ - + PhysicsSim.SimProfile diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html index 301bc28..e84f47a 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.html @@ -1,7 +1,7 @@ - + PhysicsSim diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html index 4358734..1431fc6 100644 --- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html @@ -1,7 +1,7 @@ - + TalonFXSimProfile diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html index cbc5994..0570fa6 100644 --- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html @@ -1,7 +1,7 @@ - + TalonSRXSimProfile diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html index a372035..77c6bcd 100644 --- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html +++ b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html @@ -1,7 +1,7 @@ - + VictorSPXSimProfile diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html index bf8de92..3a3c285 100644 --- a/docs/swervelib/simulation/ctre/package-summary.html +++ b/docs/swervelib/simulation/ctre/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.simulation.ctre diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html index 2dc0dbd..b334aa6 100644 --- a/docs/swervelib/simulation/ctre/package-tree.html +++ b/docs/swervelib/simulation/ctre/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.simulation.ctre Class Hierarchy diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 0b68a7f..b2a4862 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.simulation diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 77bad7d..c7420d5 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.simulation Class Hierarchy diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index 2ae32d7..d3ef467 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,7 +1,7 @@ - + SwerveDriveTelemetry.TelemetryVerbosity diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index 2d3579e..6f2aa52 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,7 +1,7 @@ - + SwerveDriveTelemetry diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index d7cfb6a..5401227 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,7 +1,7 @@ - + swervelib.telemetry diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index 52886c6..6d0bb36 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,7 +1,7 @@ - + swervelib.telemetry Class Hierarchy diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index f6fe1e1..6e5b00e 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -69,27 +69,27 @@ public class SwerveDrive * Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of * rotation) */ - public Matrix visionMeasurementStdDevs = VecBuilder.fill(0.9, 0.9, 0.9); + public Matrix visionMeasurementStdDevs = VecBuilder.fill(0.9, 0.9, 0.9); /** * Invert odometry readings of drive motor positions, used as a patch for debugging currently. */ - public boolean invertOdometry = false; + public boolean invertOdometry = false; /** * Swerve IMU device for sensing the heading of the robot. */ - private SwerveIMU imu; + private SwerveIMU imu; /** * Simulation of the swerve drive. */ - private SwerveIMUSimulation simIMU; + private SwerveIMUSimulation simIMU; /** * Counter to synchronize the modules relative encoder with absolute encoder when not moving. */ - private int moduleSynchronizationCounter = 0; + private int moduleSynchronizationCounter = 0; /** * The last heading set in radians. */ - private double lastHeadingRadians = 0; + private double lastHeadingRadians = 0; /** * Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the diff --git a/swervelib/imu/ADIS16448Swerve.java b/swervelib/imu/ADIS16448Swerve.java index 1aa483d..afb7a78 100644 --- a/swervelib/imu/ADIS16448Swerve.java +++ b/swervelib/imu/ADIS16448Swerve.java @@ -34,7 +34,7 @@ public class ADIS16448Swerve extends SwerveIMU @Override public void factoryDefault() { - yawOffset = Math.IEEEremainder(imu.getAngle(), 360); + yawOffset = (imu.getAngle() % 360); } /** @@ -54,7 +54,7 @@ public class ADIS16448Swerve extends SwerveIMU @Override public void setYaw(double yaw) { - yawOffset = Math.IEEEremainder(yaw, 360) + Math.IEEEremainder(imu.getAngle(), 360); + yawOffset = (yaw % 360) + (imu.getAngle() % 360); } /** @@ -65,9 +65,9 @@ public class ADIS16448Swerve extends SwerveIMU @Override public void getYawPitchRoll(double[] yprArray) { - yprArray[0] = Math.IEEEremainder(imu.getAngle(), 360) - yawOffset; - yprArray[1] = Math.IEEEremainder(imu.getXComplementaryAngle(), 360); - yprArray[2] = Math.IEEEremainder(imu.getYComplementaryAngle(), 360); + yprArray[0] = (imu.getAngle() % 360) - yawOffset; + yprArray[1] = imu.getXComplementaryAngle() % 360; + yprArray[2] = imu.getYComplementaryAngle() % 360; } /** diff --git a/swervelib/imu/ADIS16470Swerve.java b/swervelib/imu/ADIS16470Swerve.java index d0f01bb..34e8aef 100644 --- a/swervelib/imu/ADIS16470Swerve.java +++ b/swervelib/imu/ADIS16470Swerve.java @@ -34,7 +34,7 @@ public class ADIS16470Swerve extends SwerveIMU @Override public void factoryDefault() { - yawOffset = Math.IEEEremainder(imu.getAngle(), 360); + yawOffset = imu.getAngle() % 360; } /** @@ -54,7 +54,7 @@ public class ADIS16470Swerve extends SwerveIMU @Override public void setYaw(double yaw) { - yawOffset = Math.IEEEremainder(yaw, 360) + Math.IEEEremainder(imu.getAngle(), 360); + yawOffset = (yaw % 360) + (imu.getAngle() % 360); } /** @@ -65,9 +65,9 @@ public class ADIS16470Swerve extends SwerveIMU @Override public void getYawPitchRoll(double[] yprArray) { - yprArray[0] = Math.IEEEremainder(imu.getAngle(), 360) - yawOffset; - yprArray[1] = Math.IEEEremainder(imu.getXComplementaryAngle(), 360); - yprArray[2] = Math.IEEEremainder(imu.getYComplementaryAngle(), 360); + yprArray[0] = (imu.getAngle() % 360) - yawOffset; + yprArray[1] = imu.getXComplementaryAngle() % 360; + yprArray[2] = imu.getYComplementaryAngle() % 360; } /** diff --git a/swervelib/imu/ADXRS450Swerve.java b/swervelib/imu/ADXRS450Swerve.java index 6a9d97f..9ce3cb9 100644 --- a/swervelib/imu/ADXRS450Swerve.java +++ b/swervelib/imu/ADXRS450Swerve.java @@ -34,7 +34,7 @@ public class ADXRS450Swerve extends SwerveIMU @Override public void factoryDefault() { - yawOffset = Math.IEEEremainder(imu.getAngle(), 360); + yawOffset = imu.getAngle() % 360; } /** @@ -54,7 +54,7 @@ public class ADXRS450Swerve extends SwerveIMU @Override public void setYaw(double yaw) { - yawOffset = Math.IEEEremainder(yaw, 360) + Math.IEEEremainder(imu.getAngle(), 360); + yawOffset = (yaw % 360) + (imu.getAngle() % 360); } /** @@ -65,7 +65,7 @@ public class ADXRS450Swerve extends SwerveIMU @Override public void getYawPitchRoll(double[] yprArray) { - yprArray[0] = Math.IEEEremainder(imu.getAngle(), 360) - yawOffset; + yprArray[0] = (imu.getAngle() % 360) - yawOffset; yprArray[1] = 0; yprArray[2] = 0; } diff --git a/swervelib/imu/AnalogGyroSwerve.java b/swervelib/imu/AnalogGyroSwerve.java index 1cd60cd..15a63d4 100644 --- a/swervelib/imu/AnalogGyroSwerve.java +++ b/swervelib/imu/AnalogGyroSwerve.java @@ -41,7 +41,7 @@ public class AnalogGyroSwerve extends SwerveIMU @Override public void factoryDefault() { - yawOffset = Math.IEEEremainder(gyro.getAngle(), 360); + yawOffset = gyro.getAngle() % 360; } /** @@ -61,7 +61,7 @@ public class AnalogGyroSwerve extends SwerveIMU @Override public void setYaw(double yaw) { - yawOffset = Math.IEEEremainder(yaw, 360) + Math.IEEEremainder(gyro.getAngle(), 360); + yawOffset = (yaw % 360) + (gyro.getAngle() % 360); } /** @@ -72,7 +72,7 @@ public class AnalogGyroSwerve extends SwerveIMU @Override public void getYawPitchRoll(double[] yprArray) { - yprArray[0] = Math.IEEEremainder(gyro.getAngle(), 360) - yawOffset; + yprArray[0] = (gyro.getAngle() % 360) - yawOffset; yprArray[1] = 0; yprArray[2] = 0; } diff --git a/swervelib/imu/NavXSwerve.java b/swervelib/imu/NavXSwerve.java index 46aa41c..9c0cbb4 100644 --- a/swervelib/imu/NavXSwerve.java +++ b/swervelib/imu/NavXSwerve.java @@ -47,7 +47,7 @@ public class NavXSwerve extends SwerveIMU public void factoryDefault() { // gyro.reset(); // Reported to be slow - yawOffset = Math.IEEEremainder(gyro.getYaw(), 360); + yawOffset = gyro.getYaw() % 360; } /** @@ -67,7 +67,7 @@ public class NavXSwerve extends SwerveIMU public void setYaw(double yaw) { // gyro.reset(); // Reported to be slow using the offset. - yawOffset = Math.IEEEremainder(yaw, 360) + Math.IEEEremainder(gyro.getYaw(), 360); + yawOffset = (yaw % 360) + (gyro.getYaw() % 360); } /** @@ -79,9 +79,9 @@ public class NavXSwerve extends SwerveIMU public void getYawPitchRoll(double[] yprArray) { - yprArray[0] = (Math.IEEEremainder(gyro.getYaw(), 360)) - yawOffset; - yprArray[1] = Math.IEEEremainder(gyro.getPitch(), 360); - yprArray[2] = Math.IEEEremainder(gyro.getRoll(), 360); + yprArray[0] = (gyro.getYaw() % 360) - yawOffset; + yprArray[1] = (gyro.getPitch() % 360); + yprArray[2] = (gyro.getRoll() % 360); } /** diff --git a/swervelib/motors/TalonFXSwerve.java b/swervelib/motors/TalonFXSwerve.java index 967fdfa..756af0a 100644 --- a/swervelib/motors/TalonFXSwerve.java +++ b/swervelib/motors/TalonFXSwerve.java @@ -280,7 +280,7 @@ public class TalonFXSwerve extends SwerveMotor { double lowerBound; double upperBound; - double lowerOffset = Math.IEEEremainder(scopeReference, 360); + double lowerOffset = (scopeReference % 360); // Create the interval from the reference angle. if (lowerOffset >= 0) diff --git a/swervelib/motors/TalonSRXSwerve.java b/swervelib/motors/TalonSRXSwerve.java index 47dad38..bf88b37 100644 --- a/swervelib/motors/TalonSRXSwerve.java +++ b/swervelib/motors/TalonSRXSwerve.java @@ -270,7 +270,7 @@ public class TalonSRXSwerve extends SwerveMotor { double lowerBound; double upperBound; - double lowerOffset = Math.IEEEremainder(scopeReference, 360); + double lowerOffset = (scopeReference % 360); // Create the interval from the reference angle. if (lowerOffset >= 0) diff --git a/swervelib/simulation/ctre/PhysicsSim.java b/swervelib/simulation/ctre/PhysicsSim.java index 189e49c..1254e99 100644 --- a/swervelib/simulation/ctre/PhysicsSim.java +++ b/swervelib/simulation/ctre/PhysicsSim.java @@ -31,7 +31,7 @@ public class PhysicsSim /* scales a random domain of [0, 2pi] to [min, max] while prioritizing the peaks */ static double random(double min, double max) { - return (max - min) / 2 * Math.sin(Math.IEEEremainder(Math.random(), 2 * 3.14159)) + return (max - min) / 2 * Math.sin((Math.random() % 2 * Math.PI)) + (max + min) / 2; }