From a0d8d440e3ad5dcd35b9ed8c7898e2dc5d8ee43a Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Thu, 9 Nov 2023 18:54:46 -0600 Subject: [PATCH] Updated javadocs --- docs/allclasses-index.html | 4 +- docs/allpackages-index.html | 4 +- docs/constant-values.html | 4 +- docs/help-doc.html | 4 +- docs/index-files/index-1.html | 36 +- docs/index-files/index-10.html | 6 +- docs/index-files/index-11.html | 4 +- docs/index-files/index-12.html | 38 +- docs/index-files/index-13.html | 4 +- docs/index-files/index-14.html | 10 +- docs/index-files/index-15.html | 8 +- docs/index-files/index-16.html | 4 +- docs/index-files/index-17.html | 4 +- docs/index-files/index-18.html | 65 ++- docs/index-files/index-19.html | 4 +- docs/index-files/index-2.html | 4 +- docs/index-files/index-20.html | 4 +- docs/index-files/index-21.html | 9 +- docs/index-files/index-22.html | 12 +- docs/index-files/index-23.html | 4 +- docs/index-files/index-24.html | 4 +- docs/index-files/index-25.html | 4 +- docs/index-files/index-26.html | 4 +- docs/index-files/index-3.html | 46 +- docs/index-files/index-4.html | 22 +- docs/index-files/index-5.html | 20 +- docs/index-files/index-6.html | 4 +- docs/index-files/index-7.html | 20 +- docs/index-files/index-8.html | 8 +- docs/index-files/index-9.html | 4 +- docs/index.html | 4 +- docs/member-search-index.js | 2 +- docs/overview-summary.html | 4 +- docs/overview-tree.html | 4 +- docs/swervelib/SwerveController.html | 32 +- docs/swervelib/SwerveDrive.html | 426 ++++++++++-------- docs/swervelib/SwerveModule.html | 116 ++++- .../encoders/AnalogAbsoluteEncoderSwerve.html | 4 +- docs/swervelib/encoders/CANCoderSwerve.html | 4 +- .../swervelib/encoders/CanAndCoderSwerve.html | 4 +- .../encoders/PWMDutyCycleEncoderSwerve.html | 4 +- .../encoders/SparkMaxEncoderSwerve.html | 8 +- .../encoders/SwerveAbsoluteEncoder.html | 4 +- docs/swervelib/encoders/package-summary.html | 4 +- docs/swervelib/encoders/package-tree.html | 4 +- docs/swervelib/imu/ADIS16448Swerve.html | 4 +- docs/swervelib/imu/ADIS16470Swerve.html | 4 +- docs/swervelib/imu/ADXRS450Swerve.html | 4 +- docs/swervelib/imu/AnalogGyroSwerve.html | 4 +- docs/swervelib/imu/NavXSwerve.html | 4 +- docs/swervelib/imu/Pigeon2Swerve.html | 4 +- docs/swervelib/imu/PigeonSwerve.html | 4 +- docs/swervelib/imu/SwerveIMU.html | 4 +- docs/swervelib/imu/package-summary.html | 4 +- docs/swervelib/imu/package-tree.html | 4 +- docs/swervelib/math/Matter.html | 4 +- docs/swervelib/math/SwerveMath.html | 61 ++- docs/swervelib/math/package-summary.html | 4 +- docs/swervelib/math/package-tree.html | 4 +- .../motors/SparkMaxBrushedMotorSwerve.html | 4 +- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 4 +- docs/swervelib/motors/SparkMaxSwerve.html | 4 +- docs/swervelib/motors/SwerveMotor.html | 4 +- docs/swervelib/motors/TalonFXSwerve.html | 4 +- docs/swervelib/motors/TalonSRXSwerve.html | 4 +- docs/swervelib/motors/package-summary.html | 4 +- docs/swervelib/motors/package-tree.html | 4 +- docs/swervelib/package-summary.html | 4 +- docs/swervelib/package-tree.html | 4 +- docs/swervelib/parser/PIDFConfig.html | 4 +- .../parser/SwerveControllerConfiguration.html | 41 +- .../parser/SwerveDriveConfiguration.html | 94 ++-- .../parser/SwerveModuleConfiguration.html | 157 ++----- .../SwerveModulePhysicalCharacteristics.html | 180 ++------ docs/swervelib/parser/SwerveParser.html | 112 ++++- .../parser/deserializer/PIDFRange.html | 4 +- .../parser/deserializer/package-summary.html | 4 +- .../parser/deserializer/package-tree.html | 4 +- .../parser/json/ControllerPropertiesJson.html | 13 +- docs/swervelib/parser/json/DeviceJson.html | 22 +- docs/swervelib/parser/json/ModuleJson.html | 35 +- .../parser/json/MotorConfigDouble.html | 6 +- .../swervelib/parser/json/MotorConfigInt.html | 6 +- .../parser/json/PIDFPropertiesJson.html | 4 +- .../parser/json/PhysicalPropertiesJson.html | 81 +--- .../parser/json/SwerveDriveJson.html | 32 +- .../parser/json/modules/BoolMotorJson.html | 4 +- .../parser/json/modules/LocationJson.html | 4 +- .../parser/json/modules/package-summary.html | 4 +- .../parser/json/modules/package-tree.html | 4 +- .../parser/json/package-summary.html | 4 +- docs/swervelib/parser/json/package-tree.html | 4 +- docs/swervelib/parser/package-summary.html | 4 +- docs/swervelib/parser/package-tree.html | 4 +- .../simulation/SwerveIMUSimulation.html | 4 +- .../simulation/SwerveModuleSimulation.html | 4 +- .../ctre/PhysicsSim.SimProfile.html | 4 +- .../swervelib/simulation/ctre/PhysicsSim.html | 4 +- .../simulation/ctre/TalonFXSimProfile.html | 4 +- .../simulation/ctre/TalonSRXSimProfile.html | 4 +- .../simulation/ctre/VictorSPXSimProfile.html | 4 +- .../simulation/ctre/package-summary.html | 4 +- .../simulation/ctre/package-tree.html | 4 +- .../swervelib/simulation/package-summary.html | 4 +- docs/swervelib/simulation/package-tree.html | 4 +- ...erveDriveTelemetry.TelemetryVerbosity.html | 4 +- .../telemetry/SwerveDriveTelemetry.html | 4 +- docs/swervelib/telemetry/package-summary.html | 4 +- docs/swervelib/telemetry/package-tree.html | 4 +- 109 files changed, 1004 insertions(+), 1032 deletions(-) diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index 9482216..6e5d167 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,11 +1,11 @@ - + All Classes and Interfaces - + diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 86ef824..4372543 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,11 +1,11 @@ - + All Packages - + diff --git a/docs/constant-values.html b/docs/constant-values.html index 9c32c45..a004b1f 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,11 +1,11 @@ - + Constant Field Values - + diff --git a/docs/help-doc.html b/docs/help-doc.html index cb68600..da57c16 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,11 +1,11 @@ - + API Help - + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 2d3cf01..d495b06 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,11 +1,11 @@ - + A-Index - + @@ -113,12 +113,12 @@ loadScripts(document, 'script');
Adds a VictorSPX controller to the simulator.
-
addVisionMeasurement(Pose2d, double, boolean, double) - Method in class swervelib.SwerveDrive
+
addVisionMeasurement(Pose2d, double) - Method in class swervelib.SwerveDrive
Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
-
addVisionMeasurement(Pose2d, double, boolean, Matrix<N3, N1>) - Method in class swervelib.SwerveDrive
+
addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class swervelib.SwerveDrive
Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
@@ -191,18 +191,6 @@ loadScripts(document, 'script');
Heading of the robot.
-
angleEncoderPulsePerRevolution - Variable in class swervelib.parser.json.ModuleJson
-
-
The angle encoder pulse per revolution override.
-
-
angleEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Angle motor encoder pulse per rotation.
-
-
angleGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Angle gear ratio.
-
angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson
The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
@@ -227,14 +215,6 @@ loadScripts(document, 'script');
Current limits for the Swerve Module.
-
angleMotorEncoderPulsePerRevolution - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
The integrated encoder pulse per revolution.
-
-
angleMotorFreeSpeedRPM - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
DEPRECATED: No longer needed, tune PhysicalPropertiesJson.moduleFeedForwardClosedLoop instead.
-
angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
State of inversion of the angle motor.
@@ -263,13 +243,13 @@ loadScripts(document, 'script');
Algebraically apply a deadband using a piece wise function.
-
attainableMaxRotationalVelocityRadiansPerSecond - Variable in class swervelib.parser.SwerveDriveConfiguration
+
attainableMaxRotationalVelocityRadiansPerSecond - Variable in class swervelib.SwerveDrive
-
Max module speed in meters per second.
+
The absolute max speed the robot can reach while rotating radians per second.
-
attainableMaxTranslationalSpeedMetersPerSecond - Variable in class swervelib.parser.SwerveDriveConfiguration
+
attainableMaxTranslationalSpeedMetersPerSecond - Variable in class swervelib.SwerveDrive
-
Max module speed in meters per second.
+
The absolute max speed that your robot can reach while translating in meters per second.
A B C D E F G H I K L M N O P Q R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index 8fa8a73..3310296 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,11 +1,11 @@ - + K-Index - + @@ -55,7 +55,7 @@ loadScripts(document, 'script');
kinematics - Variable in class swervelib.SwerveDrive
-
Swerve Kinematics object utilizing second order kinematics.
+
Swerve Kinematics object.
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All Classes and Interfaces|All Packages|Constant Field Values diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 1b8f676..675f183 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index e369dc2..cf5d9c7 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,11 +1,11 @@ - + M-Index - + @@ -93,26 +93,18 @@ loadScripts(document, 'script');
The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
-
maxSpeed - Variable in class swervelib.parser.json.SwerveDriveJson
+
maxSpeed - Variable in class swervelib.SwerveModule
-
Maximum robot speed in feet per second.
-
-
maxSpeed - Variable in class swervelib.parser.SwerveControllerConfiguration
-
-
Maximum robot speed in meters per second.
-
-
maxSpeed - Variable in class swervelib.parser.SwerveDriveConfiguration
-
-
Max module speed in meters per second.
-
-
maxSpeed - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Maximum robot speed in meters per second.
+
Maximum speed of the drive motors in meters per second.
maxSpeed - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
The maximum achievable speed of the modules, used to adjust the size of the vectors.
+
maxSpeedMPS - Variable in class swervelib.SwerveDrive
+
+
Maximum speed of the robot in meters per second.
+
measuredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
The maximum achievable angular velocity of the robot.
@@ -137,11 +129,6 @@ loadScripts(document, 'script');
The number of swerve modules
-
moduleFeedForwardClosedLoop - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate.
-
ModuleJson - Class in swervelib.parser.json
SwerveModule JSON parsed class.
@@ -177,15 +164,6 @@ loadScripts(document, 'script');
Enable SwerveModuleState optimizations so the angle is reversed and speed is reversed to ensure the module never turns more than 90deg.
-
moduleSteerFFCL - Variable in class swervelib.parser.SwerveModuleConfiguration
-
-
Angle volt-meter-per-second.
-
-
moduleSteerFFCL - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate.
-
moduleSynchronizationCounter - Variable in class swervelib.SwerveDrive
Counter to synchronize the modules relative encoder with absolute encoder when not moving.
diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index c7cc260..17f7580 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,11 +1,11 @@ - + N-Index - + diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index e5ba384..535d34f 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + @@ -93,13 +93,13 @@ loadScripts(document, 'script');
Open JSON file.
-
optimalVoltage - Variable in class swervelib.parser.json.SwerveDriveJson
+
optimalVoltage - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
Optimal voltage to compensate to and base feedforward calculations off of.
+
The voltage to use for the smart motor voltage compensation, default is 12.
optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
Optimal voltage of the robot.
+
The voltage to use for the smart motor voltage compensation.
output - Variable in class swervelib.parser.PIDFConfig
diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index d44dfd6..b6f4a3e 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + @@ -57,6 +57,10 @@ loadScripts(document, 'script');
Proportional Gain for PID.
+
physicalCharacteristics - Variable in class swervelib.parser.SwerveDriveConfiguration
+
+
Physical characteristics of the swerve drive from physicalproperties.json.
+
physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration
Physical characteristics of the swerve module.
diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 1a467c1..be9dcc8 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + Q-Index - + diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index b7412f7..6295627 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + R-Index - + diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 6c22890..8954420 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + S-Index - + @@ -101,9 +101,21 @@ loadScripts(document, 'script');
Set the angle for the module.
+
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveDrive
+
+
Set the conversion factor for the angle/azimuth motor controller.
+
+
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveModule
+
+
Set the conversion factor for the angle/azimuth motor controller.
+
+
setAngleMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule
+
+
Set the voltage compensation for the swerve module motor.
+
setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
Set chassis speeds with closed-loop velocity control and second order kinematics.
+
Set chassis speeds with closed-loop velocity control.
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
@@ -134,6 +146,18 @@ loadScripts(document, 'script');
Set the desired state of the swerve module.
+
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveDrive
+
+
Set the conversion factor for the drive motor controller.
+
+
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveModule
+
+
Set the conversion factor for the drive motor controller.
+
+
setDriveMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule
+
+
Set the voltage compensation for the swerve module motor.
+
setGyro(Rotation3d) - Method in class swervelib.SwerveDrive
Set the expected gyroscope angle using a Rotation3d object.
@@ -142,6 +166,10 @@ loadScripts(document, 'script');
Set the gyro scope offset to a desired known rotation.
+
setHeadingCorrection(boolean) - Method in class swervelib.SwerveDrive
+
+
Set the heading correction capabilities of YAGSL.
+
setInverted(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
Set the motor to be inverted.
@@ -188,15 +216,13 @@ loadScripts(document, 'script');
setMaximumSpeed(double) - Method in class swervelib.SwerveDrive
-
Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the +
Set the maximum speed of the drive motors, modified SwerveDrive.maxSpeedMPS which is used for the SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
-
setMaximumSpeed(double, boolean) - Method in class swervelib.SwerveDrive
+
setMaximumSpeed(double, boolean, double) - Method in class swervelib.SwerveDrive
-
Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the +
Set the maximum speed of the drive motors, modified SwerveDrive.maxSpeedMPS which is used for the SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
@@ -404,7 +430,7 @@ loadScripts(document, 'script');
SparkMaxEncoderSwerve(SwerveMotor, int) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve
-
Create the AbsoluteEncoder object as a duty cycle.
+
Create the SparkMaxEncoderSwerve object as a duty cycle from the CANSparkMax motor.
SparkMaxSwerve - Class in swervelib.motors
@@ -428,8 +454,7 @@ loadScripts(document, 'script');
stateStdDevs - Variable in class swervelib.SwerveDrive
-
Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation - (meters of position and degrees of rotation)
+
Standard deviation of encoders and gyroscopes, usually should not change.
stopOdometryThread() - Method in class swervelib.SwerveDrive
@@ -458,11 +483,11 @@ loadScripts(document, 'script');
Swerve Controller configuration class which is used to configure SwerveController.
-
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig) - Constructor for class swervelib.parser.SwerveControllerConfiguration
+
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
Construct the swerve controller configuration.
-
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
+
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
Construct the swerve controller configuration.
@@ -470,7 +495,7 @@ loadScripts(document, 'script');
Swerve Drive class representing and controlling the swerve drive.
-
SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration) - Constructor for class swervelib.SwerveDrive
+
SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration, double) - Constructor for class swervelib.SwerveDrive
Creates a new swerve drivebase subsystem.
@@ -482,7 +507,7 @@ loadScripts(document, 'script');
Swerve drive configurations used during SwerveDrive construction.
-
SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, double, boolean) - Constructor for class swervelib.parser.SwerveDriveConfiguration
+
SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, boolean, SimpleMotorFeedforward, SwerveModulePhysicalCharacteristics) - Constructor for class swervelib.parser.SwerveDriveConfiguration
Create swerve drive configuration.
@@ -582,7 +607,7 @@ loadScripts(document, 'script');
The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
-
SwerveModule(int, SwerveModuleConfiguration) - Constructor for class swervelib.SwerveModule
+
SwerveModule(int, SwerveModuleConfiguration, SimpleMotorFeedforward) - Constructor for class swervelib.SwerveModule
Construct the swerve module and initialize the swerve module motors and absolute encoder.
@@ -590,11 +615,11 @@ loadScripts(document, 'script');
Swerve Module configuration class which is used to configure SwerveModule.
-
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, double, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
+
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
Construct a configuration object for swerve modules.
-
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
+
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
Construct a configuration object for swerve modules.
@@ -602,11 +627,11 @@ loadScripts(document, 'script');
Configuration class which stores physical characteristics shared between every swerve module.
-
SwerveModulePhysicalCharacteristics(double, double, double, double, double, int, int) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
+
SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
Construct the swerve module physical characteristics.
-
SwerveModulePhysicalCharacteristics(double, double, double, double, double, int, int, double, double, int, int, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
+
SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double, int, int, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
Construct the swerve module physical characteristics.
diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index 2391862..50f5072 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + T-Index - + diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 43b7801..fc1b5d4 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,11 +1,11 @@ - + B-Index - + diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index e2b7c2f..3afafd0 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + U-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index 7a34349..f8f30f3 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + V-Index - + @@ -93,8 +93,9 @@ the order they are declared.
visionMeasurementStdDevs - Variable in class swervelib.SwerveDrive
-
Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of - rotation)
+
The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more + points and fit a line to it and modify this using SwerveDrive.addVisionMeasurement(Pose2d, double, Matrix) + with the calculated optimal standard deviation.
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All Classes and Interfaces|All Packages|Constant Field Values diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index ee822eb..22d8635 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + W-Index - + @@ -53,14 +53,6 @@ loadScripts(document, 'script'); A B C D E F G H I K L M N O P Q R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values

W

-
wheelDiameter - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
Wheel diameter in inches.
-
-
wheelDiameter - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Wheel diameter in meters.
-
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson
The grip tape coefficient of friction on carpet.
diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index e6c3719..92c105c 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + X-Index - + diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index 4819614..d2e7abd 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Y-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index 4c78751..e9f1f97 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-26.html b/docs/index-files/index-26.html index e4185df..31db3e5 100644 --- a/docs/index-files/index-26.html +++ b/docs/index-files/index-26.html @@ -1,11 +1,11 @@ - + _-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 3e0f0a1..06b91a0 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,11 +1,11 @@ - + C-Index - + @@ -341,6 +341,24 @@ loadScripts(document, 'script');
ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
 
+
conversionFactor - Variable in class swervelib.parser.json.ModuleJson
+
+
Conversion factor for the module, if different from the one in swervedrive.json
+
+
conversionFactor - Variable in class swervelib.parser.json.PhysicalPropertiesJson
+
+
Conversion factor applied to the motor controllers PID loops.
+
+
conversionFactor - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
+
The conversion factors for the drive and angle motors, created by + SwerveMath.calculateMetersPerRotation(double, double, double) and + SwerveMath.calculateDegreesPerSteeringRotation(double, double).
+
+
conversionFactors - Variable in class swervelib.parser.SwerveModuleConfiguration
+
+
Conversion factor for drive motor onboard PID's and angle PID's.
+
convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonFXSwerve
Convert the setpoint into native sensor units.
@@ -349,11 +367,11 @@ loadScripts(document, 'script');
Convert the setpoint into native sensor units.
-
createControllerConfiguration(SwerveDriveConfiguration) - Method in class swervelib.parser.json.ControllerPropertiesJson
+
createControllerConfiguration(SwerveDriveConfiguration, double) - Method in class swervelib.parser.json.ControllerPropertiesJson
Create the SwerveControllerConfiguration based on parsed and given data.
-
createDriveFeedforward() - Method in class swervelib.parser.SwerveModuleConfiguration
+
createDriveFeedforward(double, double, double) - Static method in class swervelib.math.SwerveMath
Create the drive feedforward for swerve modules.
@@ -369,11 +387,11 @@ loadScripts(document, 'script');
Create a SwerveAbsoluteEncoder from the data port on the motor controller.
-
createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, String) - Method in class swervelib.parser.json.ModuleJson
+
createModuleConfiguration(PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String) - Method in class swervelib.parser.json.ModuleJson
Create the swerve module configuration based off of parsed data.
-
createModules(SwerveModuleConfiguration[]) - Method in class swervelib.parser.SwerveDriveConfiguration
+
createModules(SwerveModuleConfiguration[], SimpleMotorFeedforward) - Method in class swervelib.parser.SwerveDriveConfiguration
Create modules based off of the SwerveModuleConfiguration.
@@ -381,7 +399,7 @@ loadScripts(document, 'script');
Create a SwerveMotor from the given configuration.
-
createPhysicalProperties(double) - Method in class swervelib.parser.json.PhysicalPropertiesJson
+
createPhysicalProperties() - Method in class swervelib.parser.json.PhysicalPropertiesJson
Create the physical characteristics based off the parsed data.
@@ -389,7 +407,19 @@ loadScripts(document, 'script');
Create a PIDController from the PID values.
-
createSwerveDrive() - Method in class swervelib.parser.SwerveParser
+
createSwerveDrive(double) - Method in class swervelib.parser.SwerveParser
+
+
Create SwerveDrive from JSON configuration directory.
+
+
createSwerveDrive(double, double, double) - Method in class swervelib.parser.SwerveParser
+
+
Create SwerveDrive from JSON configuration directory.
+
+
createSwerveDrive(SimpleMotorFeedforward, double) - Method in class swervelib.parser.SwerveParser
+
+
Create SwerveDrive from JSON configuration directory.
+
+
createSwerveDrive(SimpleMotorFeedforward, double, double, double) - Method in class swervelib.parser.SwerveParser
Create SwerveDrive from JSON configuration directory.
diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index df93e98..29a0ba4 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,11 +1,11 @@ - + D-Index - + @@ -71,10 +71,6 @@ loadScripts(document, 'script');
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
 
-
disableSecondOrderKinematics() - Method in class swervelib.SwerveDrive
-
-
Disable second order kinematics.
-
drive - Variable in class swervelib.parser.json.ModuleJson
Drive motor device configuration.
@@ -99,17 +95,17 @@ loadScripts(document, 'script');
The primary method for controlling the drivebase.
-
drive(Translation2d, double, boolean, boolean, boolean) - Method in class swervelib.SwerveDrive
+
drive(ChassisSpeeds) - Method in class swervelib.SwerveDrive
+
+
Secondary method for controlling the drivebase.
+
+
drive(ChassisSpeeds, boolean) - Method in class swervelib.SwerveDrive
The primary method for controlling the drivebase.
-
driveEncoderPulsePerRotation - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
+
driveFieldOriented(ChassisSpeeds) - Method in class swervelib.SwerveDrive
-
Drive motor encoder pulse per rotation.
-
-
driveGearRatio - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
-
-
Drive gear ratio.
+
Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 94e720a..8bf154a 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + @@ -53,18 +53,6 @@ loadScripts(document, 'script'); A B C D E F G H I K L M N O P Q R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values

E

-
enableSecondOrderKinematics() - Method in class swervelib.SwerveDrive
-
-
Enable second order kinematics for tracking purposes but completely untuned.
-
-
enableSecondOrderKinematics(double) - Method in class swervelib.SwerveDrive
-
-
Enable second order kinematics for simulation and modifying the feedforward.
-
-
enableSecondOrderKinematics(int) - Method in class swervelib.SwerveDrive
-
-
Enable second order kinematics with calculated values for the feedforward and return the value used.
-
encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
Encoder as Analog Input.
@@ -97,10 +85,6 @@ loadScripts(document, 'script');
Absolute encoder device configuration.
-
encoderPulsePerRotation - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
Encoder pulse per rotation for non-integrated encoders.
-
A B C D E F G H I K L M N O P Q R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index 873d298..a5a9751 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,11 +1,11 @@ - + F-Index - + diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index d21ce18..2ea60f7 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + @@ -53,10 +53,6 @@ loadScripts(document, 'script'); A B C D E F G H I K L M N O P Q R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values

G

-
gearRatio - Variable in class swervelib.parser.json.PhysicalPropertiesJson
-
-
Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
-
getAbsoluteEncoder() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
Get the instantiated absolute encoder Object.
@@ -289,14 +285,6 @@ loadScripts(document, 'script');
Get the position of the swerve module.
-
getPositionEncoderConversion(boolean) - Method in class swervelib.parser.SwerveModuleConfiguration
-
-
Get the encoder conversion for position encoders.
-
-
getPulsePerRotation(int) - Method in class swervelib.parser.json.DeviceJson
-
-
Get the encoder pulse per rotation based off of the encoder type.
-
getRawRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
Fetch the Rotation3d from the IMU without any zeroing.
@@ -411,11 +399,11 @@ loadScripts(document, 'script');
Get the swerve module poses and on the field relative to the robot.
-
getTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
+
getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
-
getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
+
getTargetSpeeds(double, double, double, double, double, double) - Method in class swervelib.SwerveController
Get the chassis speeds based on controller input of 2 joysticks.
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index 00fcdcd..248eab9 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,11 +1,11 @@ - + H-Index - + @@ -61,6 +61,10 @@ loadScripts(document, 'script');
Calculate the angular velocity given the current and target heading angle in radians.
+
headingCorrection - Variable in class swervelib.SwerveDrive
+
+
Whether to correct heading when driving translationally.
+
headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration
PIDF for the heading of the robot.
diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index 12be803..35fe4d1 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,11 +1,11 @@ - + I-Index - + diff --git a/docs/index.html b/docs/index.html index 67c7fc6..29379a3 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,11 +1,11 @@ - + Overview - + diff --git a/docs/member-search-index.js b/docs/member-search-index.js index b4eb25b..8b9c252 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = 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double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib","c":"SwerveController","l":"xLimiter"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib","c":"SwerveController","l":"yLimiter"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index 44d2e50..227266d 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,11 +1,11 @@ - + Generated Documentation (Untitled) - + diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 1d5b799..61820be 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,11 +1,11 @@ - + Class Hierarchy - + diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index dabf78f..1747531 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + @@ -181,19 +181,21 @@ loadScripts(document, 'script');
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getTargetSpeeds(double xInput, +
getTargetSpeeds(double xInput, double yInput, double angle, - double currentHeadingAngleRadians)
+ double currentHeadingAngleRadians, + double maxSpeed)
Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getTargetSpeeds(double xInput, +
getTargetSpeeds(double xInput, double yInput, double headingX, double headingY, - double currentHeadingAngleRadians)
+ double currentHeadingAngleRadians, + double maxSpeed)
Get the chassis speeds based on controller input of 2 joysticks.
@@ -353,19 +355,22 @@ loadScripts(document, 'script');
  • -
    +

    getTargetSpeeds

    public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds(double xInput, double yInput, double angle, - double currentHeadingAngleRadians)
    + double currentHeadingAngleRadians, + double maxSpeed)
    Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
    Parameters:
    -
    xInput - X joystick input for the robot to move in the X direction.
    -
    yInput - Y joystick input for the robot to move in the Y direction.
    +
    xInput - X joystick input for the robot to move in the X direction. X = xInput * maxSpeed
    +
    yInput - Y joystick input for the robot to move in the Y direction. Y = yInput * + maxSpeed;
    angle - The desired angle of the robot in radians.
    currentHeadingAngleRadians - The current robot heading in radians.
    +
    maxSpeed - Maximum speed in meters per second.
    Returns:
    ChassisSpeeds which can be sent to th Swerve Drive.
    @@ -387,13 +392,14 @@ loadScripts(document, 'script');
  • -
    +

    getTargetSpeeds

    public edu.wpi.first.math.kinematics.ChassisSpeeds getTargetSpeeds(double xInput, double yInput, double headingX, double headingY, - double currentHeadingAngleRadians)
    + double currentHeadingAngleRadians, + double maxSpeed)
    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.
    @@ -403,6 +409,8 @@ loadScripts(document, 'script');
    headingX - X joystick which controls the angle of the robot.
    headingY - Y joystick which controls the angle of the robot.
    currentHeadingAngleRadians - The current robot heading in radians.
    +
    maxSpeed - Maximum speed of the drive motors in meters per second, multiplier of the xInput + and yInput.
    Returns:
    ChassisSpeeds which can be sent to th Swerve Drive.
    diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 5dfe4d2..f1e0e1f 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + @@ -91,6 +91,16 @@ loadScripts(document, 'script');
    Modifier and Type
    Field
    Description
    +
    private double
    +
    attainableMaxRotationalVelocityRadiansPerSecond
    +
    +
    The absolute max speed the robot can reach while rotating radians per second.
    +
    +
    private double
    +
    attainableMaxTranslationalSpeedMetersPerSecond
    +
    +
    The absolute max speed that your robot can reach while translating in meters per second.
    +
    boolean
    chassisVelocityCorrection
    @@ -102,25 +112,35 @@ loadScripts(document, 'script');
    Field object.
    -
    private SwerveIMU
    -
    imu
    +
    boolean
    +
    headingCorrection
    +
    Whether to correct heading when driving translationally.
    +
    +
    private SwerveIMU
    +
    imu
    +
    Swerve IMU device for sensing the heading of the robot.
    -
    boolean
    -
    invertOdometry
    -
    +
    boolean
    +
    invertOdometry
    +
    Invert odometry readings of drive motor positions, used as a patch for debugging currently.
    -
    final edu.wpi.first.math.kinematics.SwerveDriveKinematics
    -
    kinematics
    +
    final edu.wpi.first.math.kinematics.SwerveDriveKinematics
    +
    kinematics
    +
    +
    Swerve Kinematics object.
    +
    +
    private double
    +
    lastHeadingRadians
    -
    Swerve Kinematics object utilizing second order kinematics.
    +
    The last heading set in radians.
    private double
    -
    lastHeadingRadians
    +
    maxSpeedMPS
    -
    The last heading set in radians.
    +
    Maximum speed of the robot in meters per second.
    private int
    moduleSynchronizationCounter
    @@ -145,8 +165,7 @@ loadScripts(document, 'script');
    edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
    stateStdDevs
    -
    Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation - (meters of position and degrees of rotation)
    +
    Standard deviation of encoders and gyroscopes, usually should not change.
    SwerveController
    swerveController
    @@ -171,8 +190,9 @@ loadScripts(document, 'script');
    edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
    visionMeasurementStdDevs
    -
    Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of - rotation)
    +
    The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more + points and fit a line to it and modify this using addVisionMeasurement(Pose2d, double, Matrix) + with the calculated optimal standard deviation.
    @@ -185,8 +205,9 @@ loadScripts(document, 'script');
    Constructor
    Description
    -
    SwerveDrive(SwerveDriveConfiguration config, - SwerveControllerConfiguration controllerConfig)
    +
    SwerveDrive(SwerveDriveConfiguration config, + SwerveControllerConfiguration controllerConfig, + double maxSpeedMPS)
    Creates a new swerve drivebase subsystem.
    @@ -205,59 +226,43 @@ loadScripts(document, 'script');
    Method
    Description
    void
    -
    addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, - double timestamp, - boolean soft, - double trustWorthiness)
    +
    addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, + double timestamp)
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    void
    -
    addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, +
    addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, double timestamp, - boolean soft, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    void
    -
    disableSecondOrderKinematics()
    -
    -
    Disable second order kinematics.
    -
    -
    void
    -
    drive(edu.wpi.first.math.geometry.Translation2d translation, +
    drive(edu.wpi.first.math.geometry.Translation2d translation, double rotation, boolean fieldRelative, boolean isOpenLoop)
    -
    -
    The primary method for controlling the drivebase.
    -
    -
    void
    -
    drive(edu.wpi.first.math.geometry.Translation2d translation, - double rotation, - boolean fieldRelative, - boolean isOpenLoop, - boolean headingCorrection)
    The primary method for controlling the drivebase.
    void
    -
    enableSecondOrderKinematics()
    +
    drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
    -
    Enable second order kinematics for tracking purposes but completely untuned.
    +
    Secondary method for controlling the drivebase.
    void
    -
    enableSecondOrderKinematics(double moduleFeedforward)
    +
    drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, + boolean isOpenLoop)
    -
    Enable second order kinematics for simulation and modifying the feedforward.
    +
    The primary method for controlling the drivebase.
    -
    double
    -
    enableSecondOrderKinematics(int motorFreeSpeedRPM)
    +
    void
    +
    driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
    -
    Enable second order kinematics with calculated values for the feedforward and return the value used.
    +
    Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
    Optional<edu.wpi.first.math.geometry.Translation3d>
    getAccel()
    @@ -353,9 +358,19 @@ loadScripts(document, 'script');
    Resets odometry to the given pose.
    void
    -
    setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
    +
    setAngleMotorConversionFactor(double conversionFactor)
    -
    Set chassis speeds with closed-loop velocity control and second order kinematics.
    +
    Set the conversion factor for the angle/azimuth motor controller.
    +
    +
    void
    +
    setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
    +
    +
    Set chassis speeds with closed-loop velocity control.
    +
    +
    void
    +
    setDriveMotorConversionFactor(double conversionFactor)
    +
    +
    Set the conversion factor for the drive motor controller.
    void
    setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
    @@ -368,74 +383,78 @@ loadScripts(document, 'script');
    Set the gyro scope offset to a desired known rotation.
    void
    -
    setMaximumSpeed(double maximumSpeed)
    +
    setHeadingCorrection(boolean state)
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the - setRawModuleStates(SwerveModuleState[], boolean) function and - SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
    +
    Set the heading correction capabilities of YAGSL.
    void
    -
    setMaximumSpeed(double maximumSpeed, - boolean updateModuleFeedforward)
    +
    setMaximumSpeed(double maximumSpeed)
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the +
    Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the setRawModuleStates(SwerveModuleState[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
    void
    -
    setMaximumSpeeds(double attainableMaxModuleSpeedMetersPerSecond, +
    setMaximumSpeed(double maximumSpeed, + boolean updateModuleFeedforward, + double optimalVoltage)
    +
    +
    Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the + setRawModuleStates(SwerveModuleState[], boolean) function and + SwerveController.getTargetSpeeds(double, double, double, double, double) functions.
    +
    +
    void
    +
    setMaximumSpeeds(double attainableMaxModuleSpeedMetersPerSecond, double attainableMaxTranslationalSpeedMetersPerSecond, double attainableMaxRotationalVelocityRadiansPerSecond)
    -
    +
    Set the maximum speeds for desaturation.
    -
    void
    -
    setModuleStateOptimization(boolean optimizationEnabled)
    -
    +
    void
    +
    setModuleStateOptimization(boolean optimizationEnabled)
    +
    Configure whether the SwerveModuleState will be optimized to prevent spinning more than 90deg.
    -
    void
    -
    setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, +
    void
    +
    setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, boolean isOpenLoop)
    -
    +
    Set the module states (azimuth and velocity) directly.
    -
    void
    -
    setMotorIdleMode(boolean brake)
    -
    +
    void
    +
    setMotorIdleMode(boolean brake)
    +
    Sets the drive motors to brake/coast mode.
    -
    void
    -
    setOdometryPeriod(double period)
    -
    +
    void
    +
    setOdometryPeriod(double period)
    +
    Set the odometry update period in seconds.
    -
    private void
    -
    setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, +
    private void
    +
    setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates, boolean isOpenLoop)
    -
    +
    Set the module states (azimuth and velocity) directly.
    -
    void
    -
    stopOdometryThread()
    -
    +
    void
    +
    stopOdometryThread()
    +
    Stop the odometry thread in favor of manually updating odometry.
    -
    void
    -
    synchronizeModuleEncoders()
    -
    +
    void
    +
    synchronizeModuleEncoders()
    +
    Synchronize angle motor integrated encoders with data from absolute encoders.
    -
    void
    -
    updateOdometry()
    -
    +
    void
    +
    updateOdometry()
    +
    Update odometry should be run every loop.
    -
    void
    -
    zeroGyro()
    -
    +
    void
    +
    zeroGyro()
    +
    Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
    @@ -459,7 +478,7 @@ loadScripts(document, 'script');

    kinematics

    public final edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics
    -
    Swerve Kinematics object utilizing second order kinematics.
    +
    Swerve Kinematics object.
  • @@ -515,16 +534,18 @@ loadScripts(document, 'script');

    stateStdDevs

    public edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> stateStdDevs
    -
    Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation - (meters of position and degrees of rotation)
    +
    Standard deviation of encoders and gyroscopes, usually should not change. (meters of position and degrees of + rotation)

  • visionMeasurementStdDevs

    public edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs
    -
    Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of - rotation)
    +
    The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more + points and fit a line to it and modify this using addVisionMeasurement(Pose2d, double, Matrix) + with the calculated optimal standard deviation. (Units should be meters per pixel). By optimizing this you can get + vision accurate to inches instead of feet.
  • @@ -543,6 +564,13 @@ loadScripts(document, 'script');
  • +
    +

    headingCorrection

    +
    public boolean headingCorrection
    +
    Whether to correct heading when driving translationally. Set to true to enable.
    +
    +
    • +

  • imu

    private SwerveIMU imu
    @@ -570,6 +598,27 @@ loadScripts(document, 'script');
    The last heading set in radians.
    • +
  • +
    +

    attainableMaxTranslationalSpeedMetersPerSecond

    +
    private double attainableMaxTranslationalSpeedMetersPerSecond
    +
    The absolute max speed that your robot can reach while translating in meters per second.
    +
    +
    • +
  • +
    +

    attainableMaxRotationalVelocityRadiansPerSecond

    +
    private double attainableMaxRotationalVelocityRadiansPerSecond
    +
    The absolute max speed the robot can reach while rotating radians per second.
    +
    +
    • +
  • +
    +

    maxSpeedMPS

    +
    private double maxSpeedMPS
    +
    Maximum speed of the robot in meters per second.
    +
    +
    • @@ -579,12 +628,13 @@ loadScripts(document, 'script');

    Constructor Details

    @@ -623,6 +675,79 @@ loadScripts(document, 'script');
  • +
    +

    setAngleMotorConversionFactor

    +
    public void setAngleMotorConversionFactor(double conversionFactor)
    +
    Set the conversion factor for the angle/azimuth motor controller.
    +
    +
    Parameters:
    +
    conversionFactor - Angle motor conversion factor for PID, should be generated from + SwerveMath.calculateDegreesPerSteeringRotation(double, double) or calculated.
    +
    +
    +
    • +
  • +
    +

    setDriveMotorConversionFactor

    +
    public void setDriveMotorConversionFactor(double conversionFactor)
    +
    Set the conversion factor for the drive motor controller.
    +
    +
    Parameters:
    +
    conversionFactor - Drive motor conversion factor for PID, should be generated from + SwerveMath.calculateMetersPerRotation(double, double, double) or calculated.
    +
    +
    +
    • +
  • +
    +

    setHeadingCorrection

    +
    public void setHeadingCorrection(boolean state)
    +
    Set the heading correction capabilities of YAGSL.
    +
    +
    Parameters:
    +
    state - headingCorrection state.
    +
    +
    +
    • +
  • +
    +

    driveFieldOriented

    +
    public void driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
    +
    Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
    +
    +
    Parameters:
    +
    velocity - Velocity of the robot desired.
    +
    +
    +
    • +
  • +
    +

    drive

    +
    public void drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
    +
    Secondary method for controlling the drivebase. Given a simple ChassisSpeeds set the swerve module states, + to achieve the goal.
    +
    +
    Parameters:
    +
    velocity - The desired robot-oriented ChassisSpeeds for the robot to achieve.
    +
    +
    +
    • +
  • +
    +

    drive

    +
    public void drive(edu.wpi.first.math.kinematics.ChassisSpeeds velocity, + boolean isOpenLoop)
    +
    The primary method for controlling the drivebase. Takes a ChassisSpeeds, and calculates and commands module + states accordingly. Can use either open-loop or closed-loop velocity control for the wheel velocities. Also has + field- and robot-relative modes, which affect how the translation vector is used.
    +
    +
    Parameters:
    +
    velocity - The chassis speeds to set the robot to achieve.
    +
    isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
    +
    +
    +
    • +

  • drive

    public void drive(edu.wpi.first.math.geometry.Translation2d translation, @@ -631,8 +756,7 @@ loadScripts(document, 'script'); boolean isOpenLoop)
    The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel - velocities. Also has field- and robot-relative modes, which affect how the translation vector is used. This method - defaults to no heading correction.
    + velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
    Parameters:
    translation - Translation2d that is the commanded linear velocity of the robot, in meters per @@ -648,32 +772,6 @@ loadScripts(document, 'script');
  • -
    -

    drive

    -
    public void drive(edu.wpi.first.math.geometry.Translation2d translation, - double rotation, - boolean fieldRelative, - boolean isOpenLoop, - boolean headingCorrection)
    -
    The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate, and calculates and - commands module states accordingly. Can use either open-loop or closed-loop velocity control for the wheel - velocities. Also has field- and robot-relative modes, which affect how the translation vector is used.
    -
    -
    Parameters:
    -
    translation - Translation2d that is the commanded linear velocity of the robot, in meters per - second. In robot-relative mode, positive x is torwards the bow (front) and positive y is - torwards port (left). In field-relative mode, positive x is away from the alliance wall - (field North) and positive y is torwards the left wall when looking through the driver - station glass (field West).
    -
    rotation - Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot - relativity.
    -
    fieldRelative - Drive mode. True for field-relative, false for robot-relative.
    -
    isOpenLoop - Whether to use closed-loop velocity control. Set to true to disable closed-loop.
    -
    headingCorrection - Whether to correct heading when driving translationally. Set to true to enable.
    -
    -
    -
    • -

  • setMaximumSpeeds

    public void setMaximumSpeeds(double attainableMaxModuleSpeedMetersPerSecond, @@ -721,7 +819,7 @@ loadScripts(document, 'script');

    setChassisSpeeds

    public void setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)
    -
    Set chassis speeds with closed-loop velocity control and second order kinematics.
    +
    Set chassis speeds with closed-loop velocity control.
    Parameters:
    chassisSpeeds - Chassis speeds to set.
    @@ -882,12 +980,12 @@ loadScripts(document, 'script');
  • -
    +

    setMaximumSpeed

    public void setMaximumSpeed(double maximumSpeed, - boolean updateModuleFeedforward)
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the + boolean updateModuleFeedforward, + double optimalVoltage)
    +
    Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the setRawModuleStates(SwerveModuleState[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions. This function overrides what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.
    @@ -897,6 +995,7 @@ loadScripts(document, 'script');
    updateModuleFeedforward - Update the swerve module feedforward to account for the new maximum speed. This should be true unless you have replaced the drive motor feedforward with replaceSwerveModuleFeedforward(SimpleMotorFeedforward)
    +
    optimalVoltage - Optimal voltage to use for the feedforward.
    • @@ -904,8 +1003,7 @@ loadScripts(document, 'script');

    setMaximumSpeed

    public void setMaximumSpeed(double maximumSpeed)
    -
    Set the maximum speed of the drive motors, modified SwerveControllerConfiguration.maxSpeed and - SwerveDriveConfiguration.maxSpeed which is used for the +
    Set the maximum speed of the drive motors, modified maxSpeedMPS which is used for the setRawModuleStates(SwerveModuleState[], boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions. This function overrides what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the @@ -977,12 +1075,10 @@ loadScripts(document, 'script');
  • -
    +

    addVisionMeasurement

    public void addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, - double timestamp, - boolean soft, - double trustWorthiness)
    + double timestamp)
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET AFTER USING THIS FUNCTION!
    To update your gyroscope readings directly use @@ -991,22 +1087,15 @@ loadScripts(document, 'script');
    Parameters:
    robotPose - Robot Pose2d as measured by vision.
    timestamp - Timestamp the measurement was taken as time since startup, should be taken from - Timer.getFPGATimestamp() or similar sources.
    -
    soft - Add vision estimate using the - SwerveDrivePoseEstimator.addVisionMeasurement(Pose2d, double) function, or hard - reset odometry with the given position with - SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d).
    -
    trustWorthiness - Trust level of vision reading when using a soft measurement, used to multiply the standard - deviation. Set to 1 for full trust. Higher = Less Weight.
    + Timer.getFPGATimestamp() or similar sources.
  • -
    +

    addVisionMeasurement

    public void addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d robotPose, double timestamp, - boolean soft, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)
    Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
    @@ -1015,12 +1104,12 @@ loadScripts(document, 'script');
    robotPose - Robot Pose2d as measured by vision.
    timestamp - Timestamp the measurement was taken as time since startup, should be taken from Timer.getFPGATimestamp() or similar sources.
    -
    soft - Add vision estimate using the - SwerveDrivePoseEstimator.addVisionMeasurement(Pose2d, double) function, or - hard reset odometry with the given position with - SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d).
    visionMeasurementStdDevs - Vision measurement standard deviation that will be sent to the - SwerveDrivePoseEstimator.
    + SwerveDrivePoseEstimator.The standard deviation of the vision measurement, + for best accuracy calculate the standard deviation at 2 or more points and fit a + line to it with the calculated optimal standard deviation. (Units should be meters + per pixel). By optimizing this you can get * vision accurate to inches instead of + feet.
    • @@ -1043,7 +1132,7 @@ loadScripts(document, 'script');
    Helper function to get the swerveController for the SwerveDrive which can be used to generate ChassisSpeeds for the robot to orient it correctly given axis or angles, and apply SlewRateLimiter to given inputs. Important functions to look at are - SwerveController.getTargetSpeeds(double, double, double, double), + SwerveController.getTargetSpeeds(double, double, double, double, double), SwerveController.addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter), SwerveController.getRawTargetSpeeds(double, double, double).
    @@ -1082,45 +1171,6 @@ loadScripts(document, 'script');
    -
  • -
    -

    enableSecondOrderKinematics

    -
    public void enableSecondOrderKinematics(double moduleFeedforward)
    -
    Enable second order kinematics for simulation and modifying the feedforward. Second order kinematics could increase - accuracy in odometry.
    -
    -
    Parameters:
    -
    moduleFeedforward - Module feedforward to apply should be between [-1, 1] excluding 0.
    -
    -
    -
    • -
  • -
    -

    enableSecondOrderKinematics

    -
    public double enableSecondOrderKinematics(int motorFreeSpeedRPM)
    -
    Enable second order kinematics with calculated values for the feedforward and return the value used.
    -
    -
    Parameters:
    -
    motorFreeSpeedRPM - Steering motor free speed RPM.
    -
    Returns:
    -
    The feedforward value used for the last swerve module.
    -
    -
    -
    • -
  • -
    -

    enableSecondOrderKinematics

    -
    public void enableSecondOrderKinematics()
    -
    Enable second order kinematics for tracking purposes but completely untuned.
    -
    -
    • -
  • -
    -

    disableSecondOrderKinematics

    -
    public void disableSecondOrderKinematics()
    -
    Disable second order kinematics.
    -
    -
    • diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index a2c0074..858e5c5 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,11 +1,11 @@ - + SwerveModule - + @@ -126,25 +126,30 @@ loadScripts(document, 'script');
    Last swerve module state applied.
    -
    int
    -
    moduleNumber
    +
    double
    +
    maxSpeed
    +
    Maximum speed of the drive motors in meters per second.
    +
    +
    int
    +
    moduleNumber
    +
    Module number for kinematics, usually 0 to 3.
    -
    boolean
    -
    moduleStateOptimization
    -
    +
    boolean
    +
    moduleStateOptimization
    +
    Enable SwerveModuleState optimizations so the angle is reversed and speed is reversed to ensure the module never turns more than 90deg.
    -
    private SwerveModuleSimulation
    -
    simModule
    -
    +
    private SwerveModuleSimulation
    +
    simModule
    +
    Simulated swerve module.
    -
    private boolean
    -
    synchronizeEncoderQueued
    -
    +
    private boolean
    +
    synchronizeEncoderQueued
    +
    Encoder synchronization queued.
    @@ -158,8 +163,9 @@ loadScripts(document, 'script');
    Constructor
    Description
    -
    SwerveModule(int moduleNumber, - SwerveModuleConfiguration moduleConfiguration)
    +
    SwerveModule(int moduleNumber, + SwerveModuleConfiguration moduleConfiguration, + edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
    Construct the swerve module and initialize the swerve module motors and absolute encoder.
    @@ -223,6 +229,16 @@ loadScripts(document, 'script');
    Set the angle for the module.
    void
    +
    setAngleMotorConversionFactor(double conversionFactor)
    +
    +
    Set the conversion factor for the angle/azimuth motor controller.
    +
    +
    void
    +
    setAngleMotorVoltageCompensation(double optimalVoltage)
    +
    +
    Set the voltage compensation for the swerve module motor.
    +
    +
    void
    setDesiredState(edu.wpi.first.math.kinematics.SwerveModuleState desiredState, boolean isOpenLoop, boolean force)
    @@ -230,6 +246,16 @@ loadScripts(document, 'script');
    Set the desired state of the swerve module.
    void
    +
    setDriveMotorConversionFactor(double conversionFactor)
    +
    +
    Set the conversion factor for the drive motor controller.
    +
    +
    void
    +
    setDriveMotorVoltageCompensation(double optimalVoltage)
    +
    +
    Set the voltage compensation for the swerve module motor.
    +
    +
    void
    setMotorBrake(boolean brake)
    Set the brake mode.
    @@ -301,6 +327,13 @@ loadScripts(document, 'script');
  • +
    +

    maxSpeed

    +
    public double maxSpeed
    +
    Maximum speed of the drive motors in meters per second.
    +
    +
    • +

  • lastState

    public edu.wpi.first.math.kinematics.SwerveModuleState lastState
    @@ -338,15 +371,18 @@ loadScripts(document, 'script');

    Constructor Details

    • Construct the swerve module and initialize the swerve module motors and absolute encoder.
    Parameters:
    moduleNumber - Module number for kinematics.
    moduleConfiguration - Module constants containing CAN ID's and offsets.
    +
    driveFeedforward - Drive motor feedforward created by + SwerveMath.createDriveFeedforward(double, double, double).
    @@ -359,6 +395,28 @@ loadScripts(document, 'script');

    Method Details

    • +
      +

      setAngleMotorVoltageCompensation

      +
      public void setAngleMotorVoltageCompensation(double optimalVoltage)
      +
      Set the voltage compensation for the swerve module motor.
      +
      +
      Parameters:
      +
      optimalVoltage - Nominal voltage for operation to output to.
      +
      +
      +
      • +
    • +
      +

      setDriveMotorVoltageCompensation

      +
      public void setDriveMotorVoltageCompensation(double optimalVoltage)
      +
      Set the voltage compensation for the swerve module motor.
      +
      +
      Parameters:
      +
      optimalVoltage - Nominal voltage for operation to output to.
      +
      +
      +
      • +

    • queueSynchronizeEncoders

      public void queueSynchronizeEncoders()
      @@ -449,6 +507,30 @@ loadScripts(document, 'script');
    • +
      +

      setAngleMotorConversionFactor

      +
      public void setAngleMotorConversionFactor(double conversionFactor)
      +
      Set the conversion factor for the angle/azimuth motor controller.
      +
      +
      Parameters:
      +
      conversionFactor - Angle motor conversion factor for PID, should be generated from + SwerveMath.calculateDegreesPerSteeringRotation(double, double) or calculated.
      +
      +
      +
      • +
    • +
      +

      setDriveMotorConversionFactor

      +
      public void setDriveMotorConversionFactor(double conversionFactor)
      +
      Set the conversion factor for the drive motor controller.
      +
      +
      Parameters:
      +
      conversionFactor - Drive motor conversion factor for PID, should be generated from + SwerveMath.calculateMetersPerRotation(double, double, double) or calculated.
      +
      +
      +
      • +

    • getAngleMotor

      public SwerveMotor getAngleMotor()
      diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index 3a4a543..e7f5468 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,11 +1,11 @@ - + AnalogAbsoluteEncoderSwerve - + diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index 6d83e6b..8d50d36 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,11 +1,11 @@ - + CANCoderSwerve - + diff --git a/docs/swervelib/encoders/CanAndCoderSwerve.html b/docs/swervelib/encoders/CanAndCoderSwerve.html index 249831e..11a35d7 100644 --- a/docs/swervelib/encoders/CanAndCoderSwerve.html +++ b/docs/swervelib/encoders/CanAndCoderSwerve.html @@ -1,11 +1,11 @@ - + CanAndCoderSwerve - + diff --git a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html index 731e469..35e1882 100644 --- a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html +++ b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html @@ -1,11 +1,11 @@ - + PWMDutyCycleEncoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 775d41a..148e4be 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxEncoderSwerve - + @@ -115,7 +115,7 @@ loadScripts(document, 'script');
      SparkMaxEncoderSwerve(SwerveMotor motor, int conversionFactor)
      -
      Create the AbsoluteEncoder object as a duty cycle.
      +
      Create the SparkMaxEncoderSwerve object as a duty cycle from the CANSparkMax motor.
    @@ -198,7 +198,7 @@ loadScripts(document, 'script');

    SparkMaxEncoderSwerve

    public SparkMaxEncoderSwerve(SwerveMotor motor, int conversionFactor)
    -
    Create the AbsoluteEncoder object as a duty cycle. from the CANSparkMax motor.
    +
    Create the SparkMaxEncoderSwerve object as a duty cycle from the CANSparkMax motor.
    Parameters:
    motor - Motor to create the encoder from.
    diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index 7bc3f8c..de18777 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,11 +1,11 @@ - + SwerveAbsoluteEncoder - + diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index f7fdff1..c6540d5 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.encoders - + diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index fd2bb3b..a63d669 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.encoders Class Hierarchy - + diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 18fa0d8..f1a7ec3 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,11 +1,11 @@ - + ADIS16448Swerve - + diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index 1d6e7a3..0d5fa0b 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,11 +1,11 @@ - + ADIS16470Swerve - + diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index 0e60a3b..b739a4d 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,11 +1,11 @@ - + ADXRS450Swerve - + diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index 160f03f..b427f7a 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,11 +1,11 @@ - + AnalogGyroSwerve - + diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index 30f68ab..7343ab1 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,11 +1,11 @@ - + NavXSwerve - + diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index ddfe6d9..eb1d6c6 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,11 +1,11 @@ - + Pigeon2Swerve - + diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index 04941d2..6f2a820 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,11 +1,11 @@ - + PigeonSwerve - + diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index 7c54148..d4f7aad 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,11 +1,11 @@ - + SwerveIMU - + diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index 64ba25f..9fac4f7 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.imu - + diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index cb1a781..050186a 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.imu Class Hierarchy - + diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html index 9fb9db9..e62d30b 100644 --- a/docs/swervelib/math/Matter.html +++ b/docs/swervelib/math/Matter.html @@ -1,11 +1,11 @@ - + Matter - + diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index 0f430a7..3adc36b 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,11 +1,11 @@ - + SwerveMath - + @@ -162,38 +162,45 @@ loadScripts(document, 'script');
    Calculate the meters per rotation for the integrated encoder.
    -
    static SwerveModuleConfiguration
    -
    getSwerveModule(SwerveModule[] modules, +
    static edu.wpi.first.math.controller.SimpleMotorFeedforward
    +
    createDriveFeedforward(double optimalVoltage, + double maxSpeed, + double wheelGripCoefficientOfFriction)
    +
    +
    Create the drive feedforward for swerve modules.
    +
    +
    static SwerveModuleConfiguration
    +
    getSwerveModule(SwerveModule[] modules, boolean front, boolean left)
    -
    +
    Get the fruthest module from center based on the module locations.
    -
    static edu.wpi.first.math.geometry.Translation2d
    -
    limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, +
    static edu.wpi.first.math.geometry.Translation2d
    +
    limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity, edu.wpi.first.math.geometry.Pose2d robotPose, double loopTime, double robotMass, List<Matter> matter, SwerveDriveConfiguration config)
    -
    +
    Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
    -
    static double
    -
    normalizeAngle(double angle)
    -
    +
    static double
    +
    normalizeAngle(double angle)
    +
    Normalize an angle to be within 0 to 360.
    -
    static double
    -
    placeInAppropriate0To360Scope(double scopeReference, +
    static double
    +
    placeInAppropriate0To360Scope(double scopeReference, double newAngle)
    -
    +
    Put an angle within the 360 deg scope of a reference.
    -
    static edu.wpi.first.math.geometry.Twist2d
    -
    PoseLog(edu.wpi.first.math.geometry.Pose2d transform)
    -
    +
    static edu.wpi.first.math.geometry.Twist2d
    +
    PoseLog(edu.wpi.first.math.geometry.Pose2d transform)
    +
    Logical inverse of the Pose exponential from 254.
    @@ -276,6 +283,24 @@ loadScripts(document, 'script');
  • +
    +

    createDriveFeedforward

    +
    public static edu.wpi.first.math.controller.SimpleMotorFeedforward createDriveFeedforward(double optimalVoltage, + double maxSpeed, + double wheelGripCoefficientOfFriction)
    +
    Create the drive feedforward for swerve modules.
    +
    +
    Parameters:
    +
    optimalVoltage - Optimal voltage to calculate kV (voltage/max Velocity)
    +
    maxSpeed - Maximum velocity in meters per second to use for the feed forward, should be + as close to physical max as possible.
    +
    wheelGripCoefficientOfFriction - Wheel grip coefficient of friction for kA (voltage/(cof*9.81))
    +
    Returns:
    +
    Drive feedforward for drive motor on a swerve module.
    +
    +
    +
    • +

  • calculateDegreesPerSteeringRotation

    public static double calculateDegreesPerSteeringRotation(double angleGearRatio, @@ -448,7 +473,7 @@ loadScripts(document, 'script');
    Parameters:
    moduleState - Current SwerveModuleState requested.
    lastModuleState - Previous SwerveModuleState used.
    -
    maxSpeed - Maximum speed of the modules, should be in SwerveDriveConfiguration.maxSpeed.
    +
    maxSpeed - Maximum speed of the modules.
    • diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index 6540264..0b90eb8 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.math - + diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 35ea833..eed75fe 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.math Class Hierarchy - + diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html index eedf591..8204c42 100644 --- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html +++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxBrushedMotorSwerve - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index 0b0d274..5c8dab0 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index ccade8d..4c86c53 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve - + diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index 34af854..dab068a 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,11 +1,11 @@ - + SwerveMotor - + diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index f70195d..5ad8938 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,11 +1,11 @@ - + TalonFXSwerve - + diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index d12ddff..014def2 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,11 +1,11 @@ - + TalonSRXSwerve - + diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index 08846eb..f5ba064 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.motors - + diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index 58890a1..3fbe8ea 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.motors Class Hierarchy - + diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index e6a09a9..5b3fbb3 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,11 +1,11 @@ - + swervelib - + diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index 0f6b1f3..efb96e0 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,11 +1,11 @@ - + swervelib Class Hierarchy - + diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index a1f7c47..79bd299 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,11 +1,11 @@ - + PIDFConfig - + diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 252ca43..ed0d78f 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,11 +1,11 @@ - + SwerveControllerConfiguration - + @@ -102,11 +102,6 @@ loadScripts(document, 'script');
    Maximum angular velocity in rad/s
    -
    double
    -
    maxSpeed
    -
    -
    Maximum robot speed in meters per second.
    -
    @@ -118,14 +113,16 @@ loadScripts(document, 'script');
    Constructor
    Description
    -
    SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, - PIDFConfig headingPIDF)
    +
    SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, + PIDFConfig headingPIDF, + double maxSpeedMPS)
    Construct the swerve controller configuration.
    -
    SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, +
    SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF, - double angleJoyStickRadiusDeadband)
    + double angleJoyStickRadiusDeadband, + double maxSpeedMPS)
    Construct the swerve controller configuration.
    @@ -165,13 +162,6 @@ loadScripts(document, 'script');
  • -
    -

    maxSpeed

    -
    public double maxSpeed
    -
    Maximum robot speed in meters per second.
    -
    -
    • -

  • maxAngularVelocity

    public double maxAngularVelocity
    @@ -187,31 +177,36 @@ loadScripts(document, 'script');

    Constructor Details

    • -
      +

      SwerveControllerConfiguration

      public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF, - double angleJoyStickRadiusDeadband)
      + double angleJoyStickRadiusDeadband, + double maxSpeedMPS)
    • Construct the swerve controller configuration.
    Parameters:
    -
    driveCfg - Drive configuration.
    headingPIDF - Heading PIDF configuration.
    angleJoyStickRadiusDeadband - Deadband on radius of angle joystick.
    +
    maxSpeedMPS - Maximum speed in meters per second for angular velocity, remember if you have + feet per second use Units.feetToMeters(double).
  • -
    +

    SwerveControllerConfiguration

    public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, - PIDFConfig headingPIDF)
    + PIDFConfig headingPIDF, + double maxSpeedMPS)
    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).
    Parameters:
    driveCfg - Drive configuration.
    headingPIDF - Heading PIDF configuration.
    +
    maxSpeedMPS - Maximum speed in meters per second for angular velocity, remember if you have feet per second + use Units.feetToMeters(double).
    • diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index d80df03..5087f5d 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,11 +1,11 @@ - + SwerveDriveConfiguration - + @@ -91,16 +91,6 @@ loadScripts(document, 'script');
    Modifier and Type
    Field
    Description
    -
    double
    -
    attainableMaxRotationalVelocityRadiansPerSecond
    -
    -
    Max module speed in meters per second.
    -
    -
    double
    -
    attainableMaxTranslationalSpeedMetersPerSecond
    -
    -
    Max module speed in meters per second.
    -
    SwerveIMU
    imu
    @@ -111,26 +101,26 @@ loadScripts(document, 'script');
    Invert the imu measurements.
    -
    double
    -
    maxSpeed
    +
    int
    +
    moduleCount
    -
    Max module speed in meters per second.
    -
    -
    int
    -
    moduleCount
    -
    Number of modules on the robot.
    -
    edu.wpi.first.math.geometry.Translation2d[]
    -
    moduleLocationsMeters
    -
    +
    edu.wpi.first.math.geometry.Translation2d[]
    +
    moduleLocationsMeters
    +
    Swerve Module locations.
    -
    SwerveModule[]
    -
    modules
    -
    +
    SwerveModule[]
    +
    modules
    +
    Swerve Modules.
    +
    SwerveModulePhysicalCharacteristics
    +
    physicalCharacteristics
    +
    +
    Physical characteristics of the swerve drive from physicalproperties.json.
    +
    @@ -142,10 +132,11 @@ loadScripts(document, 'script');
    Constructor
    Description
    -
    SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, +
    SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, SwerveIMU swerveIMU, - double maxSpeed, - boolean invertedIMU)
    + boolean invertedIMU, + edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward, + SwerveModulePhysicalCharacteristics physicalCharacteristics)
    Create swerve drive configuration.
    @@ -164,7 +155,8 @@ loadScripts(document, 'script');
    Method
    Description
    SwerveModule[]
    -
    createModules(SwerveModuleConfiguration[] swerves)
    +
    createModules(SwerveModuleConfiguration[] swerves, + edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
    Create modules based off of the SwerveModuleConfiguration.
    @@ -207,27 +199,6 @@ loadScripts(document, 'script');
  • -
    -

    maxSpeed

    -
    public double maxSpeed
    -
    Max module speed in meters per second.
    -
    -
    • -
  • -
    -

    attainableMaxTranslationalSpeedMetersPerSecond

    -
    public double attainableMaxTranslationalSpeedMetersPerSecond
    -
    Max module speed in meters per second.
    -
    -
    • -
  • -
    -

    attainableMaxRotationalVelocityRadiansPerSecond

    -
    public double attainableMaxRotationalVelocityRadiansPerSecond
    -
    Max module speed in meters per second.
    -
    -
    • -

  • moduleCount

    public int moduleCount
    @@ -241,6 +212,13 @@ loadScripts(document, 'script');
    Swerve Modules.
    • +
  • +
    +

    physicalCharacteristics

    +
    public SwerveModulePhysicalCharacteristics physicalCharacteristics
    +
    Physical characteristics of the swerve drive from physicalproperties.json.
    +
    +
    • @@ -250,19 +228,20 @@ loadScripts(document, 'script');

    Constructor Details

    Create swerve drive configuration.
    Parameters:
    moduleConfigs - Module configuration.
    swerveIMU - Swerve IMU.
    -
    maxSpeed - Max speed of the robot in meters per second.
    invertedIMU - Invert the IMU.
    +
    driveFeedforward - The drive motor feedforward to use for the SwerveModule.
    @@ -275,13 +254,16 @@ loadScripts(document, 'script');

    Method Details

    • -
      +

      createModules

      -
      public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves)
      +
      public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves, + edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)
      Create modules based off of the SwerveModuleConfiguration.
      Parameters:
      swerves - Swerve constants.
      +
      driveFeedforward - Drive feedforward created using + SwerveMath.createDriveFeedforward(double, double, double).
      Returns:
      Swerve Modules.
      diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index b72f3ad..577e06b 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,11 +1,11 @@ - + SwerveModuleConfiguration - + @@ -16,11 +16,7 @@ -
    @@ -106,26 +102,26 @@ loadScripts(document, 'script');
    The drive motor and angle motor of this swerve module.
    -
    double
    -
    angleMotorEncoderPulsePerRevolution
    +
    final boolean
    +
    angleMotorInverted
    -
    The integrated encoder pulse per revolution.
    -
    -
    final boolean
    -
    angleMotorInverted
    -
    State of inversion of the angle motor.
    -
    final double
    -
    angleOffset
    -
    +
    final double
    +
    angleOffset
    +
    Angle offset in degrees for the Swerve Module.
    -
    PIDFConfig
    -
    anglePIDF
    -
    +
    PIDFConfig
    +
    anglePIDF
    +
    PIDF configuration options for the angle motor closed-loop PID controller.
    +
    final MotorConfigDouble
    +
    conversionFactors
    +
    +
    Conversion factor for drive motor onboard PID's and angle PID's.
    +
    SwerveMotor
    driveMotor
    @@ -136,21 +132,11 @@ loadScripts(document, 'script');
    State of inversion of the drive motor.
    -
    double
    -
    maxSpeed
    +
    edu.wpi.first.math.geometry.Translation2d
    +
    moduleLocation
    -
    Maximum robot speed in meters per second.
    -
    -
    edu.wpi.first.math.geometry.Translation2d
    -
    moduleLocation
    -
    Swerve module location relative to the robot.
    -
    double
    -
    moduleSteerFFCL
    -
    -
    Angle volt-meter-per-second.
    -
    String
    name
    @@ -177,33 +163,32 @@ loadScripts(document, 'script');
    Constructor
    Description
    -
    SwerveModuleConfiguration(SwerveMotor driveMotor, +
    SwerveModuleConfiguration(SwerveMotor driveMotor, SwerveMotor angleMotor, + MotorConfigDouble conversionFactors, SwerveAbsoluteEncoder absoluteEncoder, double angleOffset, double xMeters, double yMeters, PIDFConfig anglePIDF, PIDFConfig velocityPIDF, - double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, boolean absoluteEncoderInverted, boolean driveMotorInverted, boolean angleMotorInverted, - double angleMotorEncoderPulsePerRevolution, String name)
    Construct a configuration object for swerve modules.
    -
    SwerveModuleConfiguration(SwerveMotor driveMotor, +
    SwerveModuleConfiguration(SwerveMotor driveMotor, SwerveMotor angleMotor, + MotorConfigDouble conversionFactors, SwerveAbsoluteEncoder absoluteEncoder, double angleOffset, double xMeters, double yMeters, PIDFConfig anglePIDF, PIDFConfig velocityPIDF, - double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, String name)
    @@ -216,26 +201,6 @@ loadScripts(document, 'script');

  • Method Summary

    -
    -
    -
    -
    -
    Modifier and Type
    -
    Method
    -
    Description
    -
    edu.wpi.first.math.controller.SimpleMotorFeedforward
    -
    createDriveFeedforward()
    -
    -
    Create the drive feedforward for swerve modules.
    -
    -
    double
    -
    getPositionEncoderConversion(boolean isDriveMotor)
    -
    -
    Get the encoder conversion for position encoders.
    -
    -
    -
    -

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    @@ -251,6 +216,16 @@ loadScripts(document, 'script');

    Field Details

    • +
      +

      conversionFactors

      +
      public final MotorConfigDouble conversionFactors
      +
      Conversion factor for drive motor onboard PID's and angle PID's. Use + SwerveMath.calculateMetersPerRotation(double, double, double) and + SwerveMath.calculateDegreesPerSteeringRotation(double, double) respectively to calculate the + conversion factors.
      +
      +
      • +

    • angleOffset

      public final double angleOffset
      @@ -279,13 +254,6 @@ loadScripts(document, 'script');
    • -
      -

      maxSpeed

      -
      public double maxSpeed
      -
      Maximum robot speed in meters per second.
      -
      -
      • -

    • anglePIDF

      public PIDFConfig anglePIDF
      @@ -300,20 +268,6 @@ loadScripts(document, 'script');
    • -
      -

      moduleSteerFFCL

      -
      public double moduleSteerFFCL
      -
      Angle volt-meter-per-second.
      -
      -
      • -
    • -
      -

      angleMotorEncoderPulsePerRevolution

      -
      public double angleMotorEncoderPulsePerRevolution
      -
      The integrated encoder pulse per revolution.
      -
      -
      • -

    • moduleLocation

      public edu.wpi.first.math.geometry.Translation2d moduleLocation
      @@ -364,22 +318,21 @@ loadScripts(document, 'script');

      Constructor Details

      • -
        +

        SwerveModuleConfiguration

        public SwerveModuleConfiguration(SwerveMotor driveMotor, SwerveMotor angleMotor, + MotorConfigDouble conversionFactors, SwerveAbsoluteEncoder absoluteEncoder, double angleOffset, double xMeters, double yMeters, PIDFConfig anglePIDF, PIDFConfig velocityPIDF, - double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, boolean absoluteEncoderInverted, boolean driveMotorInverted, boolean angleMotorInverted, - double angleMotorEncoderPulsePerRevolution, String name)
        Construct a configuration object for swerve modules.
        @@ -395,25 +348,23 @@ loadScripts(document, 'script');
        yMeters - Module location in meters from center vertically.
        anglePIDF - Angle PIDF configuration.
        velocityPIDF - Velocity PIDF configuration.
        -
        maxSpeed - Maximum speed in meters per second.
        physicalCharacteristics - Physical characteristics of the swerve module.
        -
        angleMotorEncoderPulsePerRevolution - The encoder pulse per revolution for the angle motor encoder.
        name - The name for the swerve module.
      • -
        +

        SwerveModuleConfiguration

        public SwerveModuleConfiguration(SwerveMotor driveMotor, SwerveMotor angleMotor, + MotorConfigDouble conversionFactors, SwerveAbsoluteEncoder absoluteEncoder, double angleOffset, double xMeters, double yMeters, PIDFConfig anglePIDF, PIDFConfig velocityPIDF, - double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, String name)
        Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not @@ -422,13 +373,13 @@ loadScripts(document, 'script');
        Parameters:
        driveMotor - Drive SwerveMotor.
        angleMotor - Angle SwerveMotor
        +
        conversionFactors - Conversion factors for angle/azimuth motors drive factors.
        absoluteEncoder - Absolute encoder SwerveAbsoluteEncoder.
        angleOffset - Absolute angle offset to 0.
        xMeters - Module location in meters from the center horizontally.
        yMeters - Module location in meters from center vertically.
        anglePIDF - Angle PIDF configuration.
        velocityPIDF - Velocity PIDF configuration.
        -
        maxSpeed - Maximum robot speed in meters per second.
        physicalCharacteristics - Physical characteristics of the swerve module.
        name - Name for the module.
        @@ -437,38 +388,6 @@ loadScripts(document, 'script');
      • - -
    • -
      -

      Method Details

      -
        -
      • -
        -

        createDriveFeedforward

        -
        public edu.wpi.first.math.controller.SimpleMotorFeedforward createDriveFeedforward()
        -
        Create the drive feedforward for swerve modules.
        -
        -
        Returns:
        -
        Drive feedforward for drive motor on a swerve module.
        -
        -
        -
        • -
      • -
        -

        getPositionEncoderConversion

        -
        public double getPositionEncoderConversion(boolean isDriveMotor)
        -
        Get the encoder conversion for position encoders.
        -
        -
        Parameters:
        -
        isDriveMotor - For the drive motor.
        -
        Returns:
        -
        Position encoder conversion factor.
        -
        -
        -
        • -
      -
      -
    diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index b15a1c7..9f753c9 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,11 +1,11 @@ - + SwerveModulePhysicalCharacteristics - + @@ -88,16 +88,6 @@ loadScripts(document, 'script');
    Field
    Description
    final int
    -
    angleEncoderPulsePerRotation
    -
    -
    Angle motor encoder pulse per rotation.
    -
    -
    final double
    -
    angleGearRatio
    -
    -
    Angle gear ratio.
    -
    -
    final int
    angleMotorCurrentLimit
    Current limits for the Swerve Module.
    @@ -107,45 +97,31 @@ loadScripts(document, 'script');
    The time it takes for the motor to go from 0 to full throttle in seconds.
    -
    final int
    -
    driveEncoderPulsePerRotation
    +
    MotorConfigDouble
    +
    conversionFactor
    -
    Drive motor encoder pulse per rotation.
    +
    The conversion factors for the drive and angle motors, created by + SwerveMath.calculateMetersPerRotation(double, double, double) and + SwerveMath.calculateDegreesPerSteeringRotation(double, double).
    -
    final double
    -
    driveGearRatio
    +
    final int
    +
    driveMotorCurrentLimit
    -
    Drive gear ratio.
    -
    -
    final int
    -
    driveMotorCurrentLimit
    -
    Current limits for the Swerve Module.
    -
    final double
    -
    driveMotorRampRate
    -
    +
    final double
    +
    driveMotorRampRate
    +
    The time it takes for the motor to go from 0 to full throttle in seconds.
    -
    final double
    -
    moduleSteerFFCL
    -
    -
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate.
    -
    -
    final double
    +
    double
    optimalVoltage
    -
    Optimal voltage of the robot.
    +
    The voltage to use for the smart motor voltage compensation.
    final double
    -
    wheelDiameter
    +
    wheelGripCoefficientOfFriction
    -
    Wheel diameter in meters.
    -
    -
    final double
    -
    wheelGripCoefficientOfFriction
    -
    Wheel grip tape coefficient of friction on carpet, as described by the vendor.
    @@ -159,28 +135,19 @@ loadScripts(document, 'script');
    Constructor
    Description
    -
    SwerveModulePhysicalCharacteristics(double driveGearRatio, - double angleGearRatio, - double wheelDiameter, +
    SwerveModulePhysicalCharacteristics(MotorConfigDouble conversionFactors, double driveMotorRampRate, - double angleMotorRampRate, - int driveEncoderPulsePerRotation, - int angleEncoderPulsePerRotation)
    + double angleMotorRampRate)
    Construct the swerve module physical characteristics.
    -
    SwerveModulePhysicalCharacteristics(double driveGearRatio, - double angleGearRatio, - double wheelDiameter, +
    SwerveModulePhysicalCharacteristics(MotorConfigDouble conversionFactors, double wheelGripCoefficientOfFriction, double optimalVoltage, int driveMotorCurrentLimit, int angleMotorCurrentLimit, double driveMotorRampRate, - double angleMotorRampRate, - int driveEncoderPulsePerRotation, - int angleEncoderPulsePerRotation, - double moduleSteerFFCL)
    + double angleMotorRampRate)
    Construct the swerve module physical characteristics.
    @@ -206,48 +173,6 @@ loadScripts(document, 'script');

    Field Details

    • -
      -

      wheelDiameter

      -
      public final double wheelDiameter
      -
      Wheel diameter in meters.
      -
      -
      • -
    • -
      -

      driveGearRatio

      -
      public final double driveGearRatio
      -
      Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.
      -
      -
      • -
    • -
      -

      angleGearRatio

      -
      public final double angleGearRatio
      -
      Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.
      -
      -
      • -
    • -
      -

      driveEncoderPulsePerRotation

      -
      public final int driveEncoderPulsePerRotation
      -
      Drive motor encoder pulse per rotation. 1 if integrated encoder.
      -
      -
      • -
    • -
      -

      angleEncoderPulsePerRotation

      -
      public final int angleEncoderPulsePerRotation
      -
      Angle motor encoder pulse per rotation. 1 for Neo encoder. 2048 for Falcons.
      -
      -
      • -
    • -
      -

      optimalVoltage

      -
      public final double optimalVoltage
      -
      Optimal voltage of the robot.
      -
      -
      • -

    • driveMotorCurrentLimit

      public final int driveMotorCurrentLimit
      @@ -283,12 +208,19 @@ loadScripts(document, 'script');
    • -
      -

      moduleSteerFFCL

      -
      public final double moduleSteerFFCL
      -
      Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the - calculated kV will be used.
      +
      +

      optimalVoltage

      +
      public double optimalVoltage
      +
      The voltage to use for the smart motor voltage compensation.
      +
      +
      • +
    • +
      +

      conversionFactor

      +
      public MotorConfigDouble conversionFactor
      +
      The conversion factors for the drive and angle motors, created by + SwerveMath.calculateMetersPerRotation(double, double, double) and + SwerveMath.calculateDegreesPerSteeringRotation(double, double).
    @@ -300,27 +232,21 @@ loadScripts(document, 'script');

    Constructor Details

    • -
      +

      SwerveModulePhysicalCharacteristics

      -
      public SwerveModulePhysicalCharacteristics(double driveGearRatio, - double angleGearRatio, - double wheelDiameter, +
      public SwerveModulePhysicalCharacteristics(MotorConfigDouble conversionFactors, double wheelGripCoefficientOfFriction, double optimalVoltage, int driveMotorCurrentLimit, int angleMotorCurrentLimit, double driveMotorRampRate, - double angleMotorRampRate, - int driveEncoderPulsePerRotation, - int angleEncoderPulsePerRotation, - double moduleSteerFFCL)
      + double angleMotorRampRate)
      Construct the swerve module physical characteristics.
      Parameters:
      -
      driveGearRatio - Gear ratio of the drive motor. Number of motor rotations to rotate the - wheel.
      -
      angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
      -
      wheelDiameter - Wheel diameter in meters.
      +
      conversionFactors - The conversion factors for the drive and angle motors, created by + SwerveMath.calculateMetersPerRotation(double, double, double) and + SwerveMath.calculateDegreesPerSteeringRotation(double, double).
      wheelGripCoefficientOfFriction - Wheel grip coefficient of friction on carpet given by manufacturer.
      optimalVoltage - Optimal robot voltage.
      driveMotorCurrentLimit - Current limit for the drive motor.
      @@ -329,37 +255,27 @@ loadScripts(document, 'script'); over drawing power from battery)
      angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents overdrawing power and power loss).
      -
      driveEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.
      -
      angleEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.
      -
      moduleSteerFFCL - The kV applied to the steering motor to ensure your drivetrain does not drift - towards a direction when rotating while translating.
    • -
      +

      SwerveModulePhysicalCharacteristics

      -
      public SwerveModulePhysicalCharacteristics(double driveGearRatio, - double angleGearRatio, - double wheelDiameter, +
      public SwerveModulePhysicalCharacteristics(MotorConfigDouble conversionFactors, double driveMotorRampRate, - double angleMotorRampRate, - int driveEncoderPulsePerRotation, - int angleEncoderPulsePerRotation)
      + double angleMotorRampRate)
      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.
      Parameters:
      -
      driveGearRatio - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.
      -
      angleGearRatio - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.
      -
      wheelDiameter - Wheel diameter in meters.
      -
      driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents over - drawing power from battery)
      -
      angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents - overdrawing power and power loss).
      -
      driveEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.
      -
      angleEncoderPulsePerRotation - The number of encoder pulses per motor rotation, 1 for integrated encoders.
      +
      conversionFactors - The conversion factors for the drive and angle motors, created by + SwerveMath.calculateMetersPerRotation(double, double, double) and + SwerveMath.calculateDegreesPerSteeringRotation(double, double).
      +
      driveMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents over drawing + power from battery)
      +
      angleMotorRampRate - The time in seconds to go from 0 to full throttle on the motor. (Prevents overdrawing + power and power loss).
      • diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index 7024bff..e670b1f 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,11 +1,11 @@ - + SwerveParser - + @@ -156,19 +156,40 @@ loadScripts(document, 'script');
      Check directory structure.
    SwerveDrive
    -
    createSwerveDrive()
    +
    createSwerveDrive(double maxSpeed)
    Create SwerveDrive from JSON configuration directory.
    -
    static SwerveModule
    -
    getModuleConfigurationByName(String name, +
    SwerveDrive
    +
    createSwerveDrive(double maxSpeed, + double angleMotorConversionFactor, + double driveMotorConversion)
    +
    +
    Create SwerveDrive from JSON configuration directory.
    +
    +
    SwerveDrive
    +
    createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward, + double maxSpeed)
    +
    +
    Create SwerveDrive from JSON configuration directory.
    +
    +
    SwerveDrive
    +
    createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward, + double maxSpeed, + double angleMotorConversionFactor, + double driveMotorConversion)
    +
    +
    Create SwerveDrive from JSON configuration directory.
    +
    +
    static SwerveModule
    +
    getModuleConfigurationByName(String name, SwerveDriveConfiguration driveConfiguration)
    -
    +
    Get the swerve module by the json name.
    -
    private com.fasterxml.jackson.databind.JsonNode
    -
    openJson(File file)
    -
    +
    private com.fasterxml.jackson.databind.JsonNode
    +
    openJson(File file)
    +
    Open JSON file.
    @@ -300,11 +321,80 @@ loadScripts(document, 'script');
  • -
    +

    createSwerveDrive

    -
    public SwerveDrive createSwerveDrive()
    +
    public SwerveDrive createSwerveDrive(double maxSpeed)
    Create SwerveDrive from JSON configuration directory.
    +
    Parameters:
    +
    maxSpeed - Maximum speed of the robot in meters per second, used for both angular acceleration used in + SwerveController and drive feedforward in + SwerveMath.createDriveFeedforward(double, double, double).
    +
    Returns:
    +
    SwerveDrive instance.
    +
    +
    +
    • +
  • +
    +

    createSwerveDrive

    +
    public SwerveDrive createSwerveDrive(double maxSpeed, + double angleMotorConversionFactor, + double driveMotorConversion)
    +
    Create SwerveDrive from JSON configuration directory.
    +
    +
    Parameters:
    +
    maxSpeed - Maximum speed of the robot in meters per second, used for both angular + acceleration used in SwerveController and drive feedforward in + SwerveMath.createDriveFeedforward(double, double, double).
    +
    angleMotorConversionFactor - Angle (AKA azimuth) motor conversion factor to convert motor controller PID loop + units to degrees, usually created using + SwerveMath.calculateDegreesPerSteeringRotation(double, double).
    +
    driveMotorConversion - Drive motor conversion factor to convert motor controller PID loop units to + meters per rotation, usually created using + SwerveMath.calculateMetersPerRotation(double, double, double).
    +
    Returns:
    +
    SwerveDrive instance.
    +
    +
    +
    • +
  • +
    +

    createSwerveDrive

    +
    public SwerveDrive createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward, + double maxSpeed, + double angleMotorConversionFactor, + double driveMotorConversion)
    +
    Create SwerveDrive from JSON configuration directory.
    +
    +
    Parameters:
    +
    driveFeedforward - Drive feedforward to use for swerve modules, should be created using + SwerveMath.createDriveFeedforward(double, double, double).
    +
    maxSpeed - Maximum speed of the robot in meters per second for normal+angular acceleration + in SwerveController of the robot.
    +
    angleMotorConversionFactor - Angle (AKA azimuth) motor conversion factor to convert motor controller PID loop + units to degrees, usually created using + SwerveMath.calculateDegreesPerSteeringRotation(double, double).
    +
    driveMotorConversion - Drive motor conversion factor to convert motor controller PID loop units to + meters per rotation, usually created using + SwerveMath.calculateMetersPerRotation(double, double, double).
    +
    Returns:
    +
    SwerveDrive instance.
    +
    +
    +
    • +
  • +
    +

    createSwerveDrive

    +
    public SwerveDrive createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward, + double maxSpeed)
    +
    Create SwerveDrive from JSON configuration directory.
    +
    +
    Parameters:
    +
    driveFeedforward - Drive feedforward to use for swerve modules, should be created using + SwerveMath.createDriveFeedforward(double, double, double).
    +
    maxSpeed - Maximum speed of the robot in meters per second for normal+angular acceleration in + SwerveController of the robot
    Returns:
    SwerveDrive instance.
    diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 6c30c11..fcec438 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,11 +1,11 @@ - + PIDFRange - + diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index ce0a007..74269d4 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer - + diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index 5e7aeab..78823fd 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer Class Hierarchy - + diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index 6f30c8a..8a9e793 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,11 +1,11 @@ - + ControllerPropertiesJson - + @@ -129,7 +129,8 @@ loadScripts(document, 'script');
    Method
    Description
    SwerveControllerConfiguration
    -
    createControllerConfiguration(SwerveDriveConfiguration driveConfiguration)
    +
    createControllerConfiguration(SwerveDriveConfiguration driveConfiguration, + double maxSpeedMPS)
    Create the SwerveControllerConfiguration based on parsed and given data.
    @@ -187,13 +188,15 @@ loadScripts(document, 'script');

    Method Details

    • -
      +

      createControllerConfiguration

      -
      public SwerveControllerConfiguration createControllerConfiguration(SwerveDriveConfiguration driveConfiguration)
      +
      public SwerveControllerConfiguration createControllerConfiguration(SwerveDriveConfiguration driveConfiguration, + double maxSpeedMPS)
      Create the SwerveControllerConfiguration based on parsed and given data.
      Parameters:
      driveConfiguration - SwerveDriveConfiguration parsed configuration.
      +
      maxSpeedMPS - Maximum speed in meters per second for the angular acceleration of the robot.
      Returns:
      SwerveControllerConfiguration object based on parsed data.
      diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index cb49ee8..c5e9c43 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,11 +1,11 @@ - + DeviceJson - + @@ -153,11 +153,6 @@ loadScripts(document, 'script');
      Create a SwerveMotor from the given configuration.
      -
      int
      -
      getPulsePerRotation(int angleEncoderPulsePerRotation)
      -
      -
      Get the encoder pulse per rotation based off of the encoder type.
      -
    • @@ -269,19 +264,6 @@ loadScripts(document, 'script'); -
  • -
    -

    getPulsePerRotation

    -
    public int getPulsePerRotation(int angleEncoderPulsePerRotation)
    -
    Get the encoder pulse per rotation based off of the encoder type.
    -
    -
    Parameters:
    -
    angleEncoderPulsePerRotation - The configured pulse per rotation.
    -
    Returns:
    -
    The correct pulse per rotation based off of the encoder type.
    -
    -
    -
    • diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index 69eb72f..d28b64d 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,11 +1,11 @@ - + ModuleJson - + @@ -106,10 +106,10 @@ loadScripts(document, 'script');
    Angle motor device configuration.
    -
    double
    -
    angleEncoderPulsePerRevolution
    +
    MotorConfigDouble
    +
    conversionFactor
    -
    The angle encoder pulse per revolution override.
    +
    Conversion factor for the module, if different from the one in swervedrive.json
    DeviceJson
    drive
    @@ -159,9 +159,8 @@ loadScripts(document, 'script');
    Method
    Description
    SwerveModuleConfiguration
    -
    createModuleConfiguration(PIDFConfig anglePIDF, +
    createModuleConfiguration(PIDFConfig anglePIDF, PIDFConfig velocityPIDF, - double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, String name)
    @@ -199,6 +198,17 @@ loadScripts(document, 'script');
  • +
    +

    conversionFactor

    +
    public MotorConfigDouble conversionFactor
    +
    Conversion factor for the module, if different from the one in swervedrive.json +

    + Conversion factor applied to the motor controllers PID loops. Can be calculated with + SwerveMath.calculateDegreesPerSteeringRotation(double, double) for angle motors or + SwerveMath.calculateMetersPerRotation(double, double, double) for drive motors.

    +
    +
    • +

  • encoder

    public DeviceJson encoder
    @@ -227,13 +237,6 @@ loadScripts(document, 'script');
  • -
    -

    angleEncoderPulsePerRevolution

    -
    public double angleEncoderPulsePerRevolution
    -
    The angle encoder pulse per revolution override. 1 for Neo encoder. 2048 for Falcons.
    -
    -
    • -

  • location

    public LocationJson location
    @@ -263,11 +266,10 @@ loadScripts(document, 'script');

    Method Details

    • -
      +

      createModuleConfiguration

      public SwerveModuleConfiguration createModuleConfiguration(PIDFConfig anglePIDF, PIDFConfig velocityPIDF, - double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics, String name)
      Create the swerve module configuration based off of parsed data.
      @@ -275,7 +277,6 @@ loadScripts(document, 'script');
      Parameters:
      anglePIDF - The PIDF values for the angle motor.
      velocityPIDF - The velocity PIDF values for the drive motor.
      -
      maxSpeed - The maximum speed of the robot in meters per second.
      physicalCharacteristics - Physical characteristics of the swerve module.
      name - Module json filename.
      Returns:
      diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index e240d20..397c4bd 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,11 +1,11 @@ - + MotorConfigDouble - + @@ -72,7 +72,7 @@ loadScripts(document, 'script');
    • -
    class MotorConfigDouble +
    public class MotorConfigDouble extends Object
    Used to store doubles for motor configuration.
    diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index ddec2e9..695dfe1 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,11 +1,11 @@ - + MotorConfigInt - + @@ -72,7 +72,7 @@ loadScripts(document, 'script');
    -
    class MotorConfigInt +
    public class MotorConfigInt extends Object
    Used to store ints for motor configuration.
    diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index 201df24..63d16b1 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,11 +1,11 @@ - + PIDFPropertiesJson - + diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index 181841a..f61df75 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,11 +1,11 @@ - + PhysicalPropertiesJson - + @@ -91,31 +91,20 @@ loadScripts(document, 'script');
    Modifier and Type
    Field
    Description
    -
    double
    -
    angleMotorFreeSpeedRPM
    +
    MotorConfigDouble
    +
    conversionFactor
    -
    DEPRECATED: No longer needed, tune moduleFeedForwardClosedLoop instead.
    +
    Conversion factor applied to the motor controllers PID loops.
    MotorConfigInt
    currentLimit
    The current limit in AMPs to apply to the motors.
    -
    MotorConfigInt
    -
    encoderPulsePerRotation
    -
    -
    Encoder pulse per rotation for non-integrated encoders.
    -
    -
    MotorConfigDouble
    -
    gearRatio
    -
    -
    Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
    -
    double
    -
    moduleFeedForwardClosedLoop
    +
    optimalVoltage
    -
    Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate.
    +
    The voltage to use for the smart motor voltage compensation, default is 12.
    MotorConfigDouble
    rampRate
    @@ -123,13 +112,8 @@ loadScripts(document, 'script');
    The minimum number of seconds to take for the motor to go from 0 to full throttle.
    double
    -
    wheelDiameter
    +
    wheelGripCoefficientOfFriction
    -
    Wheel diameter in inches.
    -
    -
    double
    -
    wheelGripCoefficientOfFriction
    -
    The grip tape coefficient of friction on carpet.
    @@ -160,7 +144,7 @@ loadScripts(document, 'script');
    Method
    Description
    SwerveModulePhysicalCharacteristics
    -
    createPhysicalProperties(double optimalVoltage)
    +
    createPhysicalProperties()
    Create the physical characteristics based off the parsed data.
    @@ -182,24 +166,12 @@ loadScripts(document, 'script');

    Field Details

    • -
      -

      wheelDiameter

      -
      public double wheelDiameter
      -
      Wheel diameter in inches.
      -
      -
      • -
    • -
      -

      gearRatio

      -
      public MotorConfigDouble gearRatio
      -
      Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
      -
      -
      • -
    • -
      -

      encoderPulsePerRotation

      -
      public MotorConfigInt encoderPulsePerRotation
      -
      Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.
      +
      +

      conversionFactor

      +
      public MotorConfigDouble conversionFactor
      +
      Conversion factor applied to the motor controllers PID loops. Can be calculated with + SwerveMath.calculateDegreesPerSteeringRotation(double, double) for angle motors or + SwerveMath.calculateMetersPerRotation(double, double, double) for drive motors.
    • @@ -224,19 +196,10 @@ loadScripts(document, 'script');
    • -
      -

      moduleFeedForwardClosedLoop

      -
      public double moduleFeedForwardClosedLoop
      -
      Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that - your drive train does not drift towards the direction you are rotating while you translate. Default value is 0. If - robot arcs while translating and rotating negate this.
      -
      -
      • -
    • -
      -

      angleMotorFreeSpeedRPM

      -
      public double angleMotorFreeSpeedRPM
      -
      DEPRECATED: No longer needed, tune moduleFeedForwardClosedLoop instead.
      +
      +

      optimalVoltage

      +
      public double optimalVoltage
      +
      The voltage to use for the smart motor voltage compensation, default is 12.
    @@ -262,13 +225,11 @@ loadScripts(document, 'script');

    Method Details

    • -
      +

      createPhysicalProperties

      -
      public SwerveModulePhysicalCharacteristics createPhysicalProperties(double optimalVoltage)
      +
      public SwerveModulePhysicalCharacteristics createPhysicalProperties()
      Create the physical characteristics based off the parsed data.
      -
      Parameters:
      -
      optimalVoltage - Optimal voltage to compensate for and use to calculate drive motor feedforward.
      Returns:
      SwerveModulePhysicalCharacteristics based on parsed data.
      diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 36e3a8b..480fa84 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,11 +1,11 @@ - + SwerveDriveJson - + @@ -97,21 +97,11 @@ loadScripts(document, 'script');
      Invert the IMU of the robot.
      -
      double
      -
      maxSpeed
      +
      String[]
      +
      modules
      -
      Maximum robot speed in feet per second.
      -
      -
      String[]
      -
      modules
      -
      Module JSONs in order clockwise order starting from front left.
      -
      double
      -
      optimalVoltage
      -
      -
      Optimal voltage to compensate to and base feedforward calculations off of.
      -
    @@ -147,20 +137,6 @@ loadScripts(document, 'script');

    Field Details

    • -
      -

      maxSpeed

      -
      public double maxSpeed
      -
      Maximum robot speed in feet per second.
      -
      -
      • -
    • -
      -

      optimalVoltage

      -
      public double optimalVoltage
      -
      Optimal voltage to compensate to and base feedforward calculations off of.
      -
      -
      • -

    • imu

      public DeviceJson imu
      diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index c0f10a0..455425a 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,11 +1,11 @@ - + BoolMotorJson - + diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index 304e23c..3d64c68 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,11 +1,11 @@ - + LocationJson - + diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index 1f65c9c..5b22ae5 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,11 +1,11 @@ - + 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 723cd16..1b4efab 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,11 +1,11 @@ - + 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 11a31e1..2911e6e 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json - + diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 3fc7713..83cc38f 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json Class Hierarchy - + diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index 422ce0b..3496e01 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser - + diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index 35a6a14..69d9133 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser Class Hierarchy - + diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index 8d907f3..2e32b5a 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,11 +1,11 @@ - + SwerveIMUSimulation - + diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index 2733ae7..e00ff5a 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,11 +1,11 @@ - + SwerveModuleSimulation - + diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html index c3404cb..bd21051 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html @@ -1,11 +1,11 @@ - + PhysicsSim.SimProfile - + diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html index 1f983d8..48bcb1d 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.html @@ -1,11 +1,11 @@ - + PhysicsSim - + diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html index 2e955ab..20bfaca 100644 --- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html @@ -1,11 +1,11 @@ - + TalonFXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html index cbd678c..43bd8cd 100644 --- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html @@ -1,11 +1,11 @@ - + TalonSRXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html index 93938ee..1c6c00d 100644 --- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html +++ b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html @@ -1,11 +1,11 @@ - + VictorSPXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html index 9b8a78a..1d8c524 100644 --- a/docs/swervelib/simulation/ctre/package-summary.html +++ b/docs/swervelib/simulation/ctre/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation.ctre - + diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html index d602d64..1ecd984 100644 --- a/docs/swervelib/simulation/ctre/package-tree.html +++ b/docs/swervelib/simulation/ctre/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation.ctre Class Hierarchy - + diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 18346f2..7338b3e 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation - + diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index c07d110..3996ea9 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation Class Hierarchy - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index ffaded3..6a298d4 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry.TelemetryVerbosity - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index 46f440c..758595e 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry - + diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index 4f4d010..8bb720d 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.telemetry - + diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index e68b7c4..d2748bc 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.telemetry Class Hierarchy - +