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thenetworkgrinch
2023-11-09 18:54:46 -06:00
parent 6aaf512b38
commit a0d8d440e3
109 changed files with 1004 additions and 1032 deletions
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4
docs/swervelib/parser/PIDFConfig.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>PIDFConfig</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser, class: PIDFConfig">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

41
docs/swervelib/parser/SwerveControllerConfiguration.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>SwerveControllerConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveControllerConfiguration">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -102,11 +102,6 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Maximum angular velocity in rad/s</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Maximum robot speed in meters per second.</div>
</div>
</div>
</section>
</li>
@@ -118,14 +113,16 @@ loadScripts(document, 'script');</script>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)" class="member-name-link">SwerveControllerConfiguration</a><wbr>(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF)</code></div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)" class="member-name-link">SwerveControllerConfiguration</a><wbr>(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;maxSpeedMPS)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct the swerve controller configuration.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)" class="member-name-link">SwerveControllerConfiguration</a><wbr>(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double,double)" class="member-name-link">SwerveControllerConfiguration</a><wbr>(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;angleJoyStickRadiusDeadband)</code></div>
double&nbsp;angleJoyStickRadiusDeadband,
double&nbsp;maxSpeedMPS)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct the swerve controller configuration.</div>
</div>
@@ -165,13 +162,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Maximum robot speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="maxAngularVelocity">
<h3>maxAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxAngularVelocity</span></div>
@@ -187,31 +177,36 @@ loadScripts(document, 'script');</script>
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)">
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double,double)">
<h3>SwerveControllerConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveControllerConfiguration</span><wbr><span class="parameters">(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;angleJoyStickRadiusDeadband)</span></div>
double&nbsp;angleJoyStickRadiusDeadband,
double&nbsp;maxSpeedMPS)</span></div>
<div class="block">Construct the swerve controller configuration.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveCfg</code> - Drive configuration.</dd>
<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
<dd><code>angleJoyStickRadiusDeadband</code> - Deadband on radius of angle joystick.</dd>
<dd><code>maxSpeedMPS</code> - Maximum speed in meters per second for angular velocity, remember if you have
feet per second use <code>Units.feetToMeters(double)</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)">
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)">
<h3>SwerveControllerConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveControllerConfiguration</span><wbr><span class="parameters">(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF)</span></div>
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;maxSpeedMPS)</span></div>
<div class="block">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).</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveCfg</code> - Drive configuration.</dd>
<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
<dd><code>maxSpeedMPS</code> - Maximum speed in meters per second for angular velocity, remember if you have feet per second
use <code>Units.feetToMeters(double)</code>.</dd>
</dl>
</section>
</li>

94
docs/swervelib/parser/SwerveDriveConfiguration.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>SwerveDriveConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveDriveConfiguration">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -91,16 +91,6 @@ loadScripts(document, 'script');</script>
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#attainableMaxRotationalVelocityRadiansPerSecond" class="member-name-link">attainableMaxRotationalVelocityRadiansPerSecond</a></code></div>
<div class="col-last even-row-color">
<div class="block">Max module speed in meters per second.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#attainableMaxTranslationalSpeedMetersPerSecond" class="member-name-link">attainableMaxTranslationalSpeedMetersPerSecond</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Max module speed in meters per second.</div>
</div>
<div class="col-first even-row-color"><code><a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
<div class="col-last even-row-color">
@@ -111,26 +101,26 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Invert the imu measurements.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-first even-row-color"><code>int</code></div>
<div class="col-second even-row-color"><code><a href="#moduleCount" class="member-name-link">moduleCount</a></code></div>
<div class="col-last even-row-color">
<div class="block">Max module speed in meters per second.</div>
</div>
<div class="col-first odd-row-color"><code>int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleCount" class="member-name-link">moduleCount</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Number of modules on the robot.</div>
</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.geometry.Translation2d[]</code></div>
<div class="col-second even-row-color"><code><a href="#moduleLocationsMeters" class="member-name-link">moduleLocationsMeters</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>edu.wpi.first.math.geometry.Translation2d[]</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleLocationsMeters" class="member-name-link">moduleLocationsMeters</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve Module locations.</div>
</div>
<div class="col-first odd-row-color"><code><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#modules" class="member-name-link">modules</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second even-row-color"><code><a href="#modules" class="member-name-link">modules</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve Modules.</div>
</div>
<div class="col-first odd-row-color"><code><a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></div>
<div class="col-second odd-row-color"><code><a href="#physicalCharacteristics" class="member-name-link">physicalCharacteristics</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Physical characteristics of the swerve drive from physicalproperties.json.</div>
</div>
</div>
</section>
</li>
@@ -142,10 +132,11 @@ loadScripts(document, 'script');</script>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration%5B%5D,swervelib.imu.SwerveIMU,double,boolean)" class="member-name-link">SwerveDriveConfiguration</a><wbr>(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;moduleConfigs,
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveModuleConfiguration%5B%5D,swervelib.imu.SwerveIMU,boolean,edu.wpi.first.math.controller.SimpleMotorFeedforward,swervelib.parser.SwerveModulePhysicalCharacteristics)" class="member-name-link">SwerveDriveConfiguration</a><wbr>(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;moduleConfigs,
<a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;swerveIMU,
double&nbsp;maxSpeed,
boolean&nbsp;invertedIMU)</code></div>
boolean&nbsp;invertedIMU,
edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</code></div>
<div class="col-last even-row-color">
<div class="block">Create swerve drive configuration.</div>
</div>
@@ -164,7 +155,8 @@ loadScripts(document, 'script');</script>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createModules(swervelib.parser.SwerveModuleConfiguration%5B%5D)" class="member-name-link">createModules</a><wbr>(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;swerves)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createModules(swervelib.parser.SwerveModuleConfiguration%5B%5D,edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">createModules</a><wbr>(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;swerves,
edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create modules based off of the SwerveModuleConfiguration.</div>
</div>
@@ -207,27 +199,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Max module speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="attainableMaxTranslationalSpeedMetersPerSecond">
<h3>attainableMaxTranslationalSpeedMetersPerSecond</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">attainableMaxTranslationalSpeedMetersPerSecond</span></div>
<div class="block">Max module speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="attainableMaxRotationalVelocityRadiansPerSecond">
<h3>attainableMaxRotationalVelocityRadiansPerSecond</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">attainableMaxRotationalVelocityRadiansPerSecond</span></div>
<div class="block">Max module speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="moduleCount">
<h3>moduleCount</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">moduleCount</span></div>
@@ -241,6 +212,13 @@ loadScripts(document, 'script');</script>
<div class="block">Swerve Modules.</div>
</section>
</li>
<li>
<section class="detail" id="physicalCharacteristics">
<h3>physicalCharacteristics</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></span>&nbsp;<span class="element-name">physicalCharacteristics</span></div>
<div class="block">Physical characteristics of the swerve drive from physicalproperties.json.</div>
</section>
</li>
</ul>
</section>
</li>
@@ -250,19 +228,20 @@ loadScripts(document, 'script');</script>
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,double,boolean)">
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveModuleConfiguration[],swervelib.imu.SwerveIMU,boolean,edu.wpi.first.math.controller.SimpleMotorFeedforward,swervelib.parser.SwerveModulePhysicalCharacteristics)">
<h3>SwerveDriveConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDriveConfiguration</span><wbr><span class="parameters">(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;moduleConfigs,
<a href="../imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a>&nbsp;swerveIMU,
double&nbsp;maxSpeed,
boolean&nbsp;invertedIMU)</span></div>
boolean&nbsp;invertedIMU,
edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</span></div>
<div class="block">Create swerve drive configuration.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleConfigs</code> - Module configuration.</dd>
<dd><code>swerveIMU</code> - Swerve IMU.</dd>
<dd><code>maxSpeed</code> - Max speed of the robot in meters per second.</dd>
<dd><code>invertedIMU</code> - Invert the IMU.</dd>
<dd><code>driveFeedforward</code> - The drive motor feedforward to use for the <a href="../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>.</dd>
</dl>
</section>
</li>
@@ -275,13 +254,16 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="createModules(swervelib.parser.SwerveModuleConfiguration[])">
<section class="detail" id="createModules(swervelib.parser.SwerveModuleConfiguration[],edu.wpi.first.math.controller.SimpleMotorFeedforward)">
<h3>createModules</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</span>&nbsp;<span class="element-name">createModules</span><wbr><span class="parameters">(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;swerves)</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</span>&nbsp;<span class="element-name">createModules</span><wbr><span class="parameters">(<a href="SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a>[]&nbsp;swerves,
edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward)</span></div>
<div class="block">Create modules based off of the SwerveModuleConfiguration.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>swerves</code> - Swerve constants.</dd>
<dd><code>driveFeedforward</code> - Drive feedforward created using
<a href="../math/SwerveMath.html#createDriveFeedforward(double,double,double)"><code>SwerveMath.createDriveFeedforward(double, double, double)</code></a>.</dd>
<dt>Returns:</dt>
<dd>Swerve Modules.</dd>
</dl>

157
docs/swervelib/parser/SwerveModuleConfiguration.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>SwerveModuleConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModuleConfiguration">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -16,11 +16,7 @@
<script type="text/javascript" src="../../script-dir/jquery-ui.min.js"></script>
</head>
<body class="class-declaration-page">
<script type="text/javascript">var evenRowColor = "even-row-color";
var oddRowColor = "odd-row-color";
var tableTab = "table-tab";
var activeTableTab = "active-table-tab";
var pathtoroot = "../../";
<script type="text/javascript">var pathtoroot = "../../";
loadScripts(document, 'script');</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
@@ -53,7 +49,7 @@ loadScripts(document, 'script');</script>
<li>Detail:&nbsp;</li>
<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method-detail">Method</a></li>
<li>Method</li>
</ul>
</div>
<div class="nav-list-search"><label for="search-input">SEARCH:</label>
@@ -106,26 +102,26 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">The drive motor and angle motor of this swerve module.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorEncoderPulsePerRevolution" class="member-name-link">angleMotorEncoderPulsePerRevolution</a></code></div>
<div class="col-first odd-row-color"><code>final boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorInverted" class="member-name-link">angleMotorInverted</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The integrated encoder pulse per revolution.</div>
</div>
<div class="col-first even-row-color"><code>final boolean</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorInverted" class="member-name-link">angleMotorInverted</a></code></div>
<div class="col-last even-row-color">
<div class="block">State of inversion of the angle motor.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleOffset" class="member-name-link">angleOffset</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#angleOffset" class="member-name-link">angleOffset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle offset in degrees for the Swerve Module.</div>
</div>
<div class="col-first even-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second even-row-color"><code><a href="#anglePIDF" class="member-name-link">anglePIDF</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second odd-row-color"><code><a href="#anglePIDF" class="member-name-link">anglePIDF</a></code></div>
<div class="col-last odd-row-color">
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
</div>
<div class="col-first even-row-color"><code>final <a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second even-row-color"><code><a href="#conversionFactors" class="member-name-link">conversionFactors</a></code></div>
<div class="col-last even-row-color">
<div class="block">Conversion factor for drive motor onboard PID's and angle PID's.</div>
</div>
<div class="col-first odd-row-color"><code><a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotor" class="member-name-link">driveMotor</a></code></div>
<div class="col-last odd-row-color">
@@ -136,21 +132,11 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">State of inversion of the drive motor.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-first odd-row-color"><code>edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleLocation" class="member-name-link">moduleLocation</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Maximum robot speed in meters per second.</div>
</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color"><code><a href="#moduleLocation" class="member-name-link">moduleLocation</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve module location relative to the robot.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleSteerFFCL" class="member-name-link">moduleSteerFFCL</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Angle volt-meter-per-second.</div>
</div>
<div class="col-first even-row-color"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second even-row-color"><code><a href="#name" class="member-name-link">name</a></code></div>
<div class="col-last even-row-color">
@@ -177,33 +163,32 @@ loadScripts(document, 'script');</script>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,java.lang.String)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,java.lang.String)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a>&nbsp;conversionFactors,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
boolean&nbsp;absoluteEncoderInverted,
boolean&nbsp;driveMotorInverted,
boolean&nbsp;angleMotorInverted,
double&nbsp;angleMotorEncoderPulsePerRevolution,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct a configuration object for swerve modules.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a>&nbsp;conversionFactors,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last odd-row-color">
@@ -216,26 +201,6 @@ loadScripts(document, 'script');</script>
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.controller.SimpleMotorFeedforward</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createDriveFeedforward()" class="member-name-link">createDriveFeedforward</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create the drive feedforward for swerve modules.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPositionEncoderConversion(boolean)" class="member-name-link">getPositionEncoderConversion</a><wbr>(boolean&nbsp;isDriveMotor)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the encoder conversion for position encoders.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
@@ -251,6 +216,16 @@ loadScripts(document, 'script');</script>
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="conversionFactors">
<h3>conversionFactors</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type"><a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></span>&nbsp;<span class="element-name">conversionFactors</span></div>
<div class="block">Conversion factor for drive motor onboard PID's and angle PID's. Use
<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> and
<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a> respectively to calculate the
conversion factors.</div>
</section>
</li>
<li>
<section class="detail" id="angleOffset">
<h3>angleOffset</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleOffset</span></div>
@@ -279,13 +254,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Maximum robot speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="anglePIDF">
<h3>anglePIDF</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></span>&nbsp;<span class="element-name">anglePIDF</span></div>
@@ -300,20 +268,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="moduleSteerFFCL">
<h3>moduleSteerFFCL</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">moduleSteerFFCL</span></div>
<div class="block">Angle volt-meter-per-second.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorEncoderPulsePerRevolution">
<h3>angleMotorEncoderPulsePerRevolution</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorEncoderPulsePerRevolution</span></div>
<div class="block">The integrated encoder pulse per revolution.</div>
</section>
</li>
<li>
<section class="detail" id="moduleLocation">
<h3>moduleLocation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d</span>&nbsp;<span class="element-name">moduleLocation</span></div>
@@ -364,22 +318,21 @@ loadScripts(document, 'script');</script>
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,java.lang.String)">
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,java.lang.String)">
<h3>SwerveModuleConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleConfiguration</span><wbr><span class="parameters">(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a>&nbsp;conversionFactors,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
boolean&nbsp;absoluteEncoderInverted,
boolean&nbsp;driveMotorInverted,
boolean&nbsp;angleMotorInverted,
double&nbsp;angleMotorEncoderPulsePerRevolution,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Construct a configuration object for swerve modules.</div>
<dl class="notes">
@@ -395,25 +348,23 @@ loadScripts(document, 'script');</script>
<dd><code>yMeters</code> - Module location in meters from center vertically.</dd>
<dd><code>anglePIDF</code> - Angle PIDF configuration.</dd>
<dd><code>velocityPIDF</code> - Velocity PIDF configuration.</dd>
<dd><code>maxSpeed</code> - Maximum speed in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
<dd><code>angleMotorEncoderPulsePerRevolution</code> - The encoder pulse per revolution for the angle motor encoder.</dd>
<dd><code>name</code> - The name for the swerve module.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)">
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.parser.json.MotorConfigDouble,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)">
<h3>SwerveModuleConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleConfiguration</span><wbr><span class="parameters">(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a>&nbsp;conversionFactors,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not
@@ -422,13 +373,13 @@ loadScripts(document, 'script');</script>
<dt>Parameters:</dt>
<dd><code>driveMotor</code> - Drive <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</dd>
<dd><code>angleMotor</code> - Angle <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a></dd>
<dd><code>conversionFactors</code> - Conversion factors for angle/azimuth motors drive factors.</dd>
<dd><code>absoluteEncoder</code> - Absolute encoder <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</dd>
<dd><code>angleOffset</code> - Absolute angle offset to 0.</dd>
<dd><code>xMeters</code> - Module location in meters from the center horizontally.</dd>
<dd><code>yMeters</code> - Module location in meters from center vertically.</dd>
<dd><code>anglePIDF</code> - Angle PIDF configuration.</dd>
<dd><code>velocityPIDF</code> - Velocity PIDF configuration.</dd>
<dd><code>maxSpeed</code> - Maximum robot speed in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
<dd><code>name</code> - Name for the module.</dd>
</dl>
@@ -437,38 +388,6 @@ loadScripts(document, 'script');</script>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="createDriveFeedforward()">
<h3>createDriveFeedforward</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.controller.SimpleMotorFeedforward</span>&nbsp;<span class="element-name">createDriveFeedforward</span>()</div>
<div class="block">Create the drive feedforward for swerve modules.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>Drive feedforward for drive motor on a swerve module.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getPositionEncoderConversion(boolean)">
<h3>getPositionEncoderConversion</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getPositionEncoderConversion</span><wbr><span class="parameters">(boolean&nbsp;isDriveMotor)</span></div>
<div class="block">Get the encoder conversion for position encoders.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>isDriveMotor</code> - For the drive motor.</dd>
<dt>Returns:</dt>
<dd>Position encoder conversion factor.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->

180
docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>SwerveModulePhysicalCharacteristics</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModulePhysicalCharacteristics">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -88,16 +88,6 @@ loadScripts(document, 'script');</script>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>final int</code></div>
<div class="col-second even-row-color"><code><a href="#angleEncoderPulsePerRotation" class="member-name-link">angleEncoderPulsePerRotation</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor encoder pulse per rotation.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleGearRatio" class="member-name-link">angleGearRatio</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Angle gear ratio.</div>
</div>
<div class="col-first even-row-color"><code>final int</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorCurrentLimit" class="member-name-link">angleMotorCurrentLimit</a></code></div>
<div class="col-last even-row-color">
<div class="block">Current limits for the Swerve Module.</div>
@@ -107,45 +97,31 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</div>
<div class="col-first even-row-color"><code>final int</code></div>
<div class="col-second even-row-color"><code><a href="#driveEncoderPulsePerRotation" class="member-name-link">driveEncoderPulsePerRotation</a></code></div>
<div class="col-first even-row-color"><code><a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second even-row-color"><code><a href="#conversionFactor" class="member-name-link">conversionFactor</a></code></div>
<div class="col-last even-row-color">
<div class="block">Drive motor encoder pulse per rotation.</div>
<div class="block">The conversion factors for the drive and angle motors, created by
<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> and
<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#driveGearRatio" class="member-name-link">driveGearRatio</a></code></div>
<div class="col-first odd-row-color"><code>final int</code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotorCurrentLimit" class="member-name-link">driveMotorCurrentLimit</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Drive gear ratio.</div>
</div>
<div class="col-first even-row-color"><code>final int</code></div>
<div class="col-second even-row-color"><code><a href="#driveMotorCurrentLimit" class="member-name-link">driveMotorCurrentLimit</a></code></div>
<div class="col-last even-row-color">
<div class="block">Current limits for the Swerve Module.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotorRampRate" class="member-name-link">driveMotorRampRate</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#driveMotorRampRate" class="member-name-link">driveMotorRampRate</a></code></div>
<div class="col-last even-row-color">
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#moduleSteerFFCL" class="member-name-link">moduleSteerFFCL</a></code></div>
<div class="col-last even-row-color">
<div class="block">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.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Optimal voltage of the robot.</div>
<div class="block">The voltage to use for the smart motor voltage compensation.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-second even-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last even-row-color">
<div class="block">Wheel diameter in meters.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
</div>
</div>
@@ -159,28 +135,19 @@ loadScripts(document, 'script');</script>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;wheelDiameter,
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a>&nbsp;conversionFactors,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</code></div>
double&nbsp;angleMotorRampRate)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct the swerve module physical characteristics.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,int,int,double,double,int,int,double)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;wheelDiameter,
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double,int,int,double,double)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a>&nbsp;conversionFactors,
double&nbsp;wheelGripCoefficientOfFriction,
double&nbsp;optimalVoltage,
int&nbsp;driveMotorCurrentLimit,
int&nbsp;angleMotorCurrentLimit,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation,
double&nbsp;moduleSteerFFCL)</code></div>
double&nbsp;angleMotorRampRate)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct the swerve module physical characteristics.</div>
</div>
@@ -206,48 +173,6 @@ loadScripts(document, 'script');</script>
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="wheelDiameter">
<h3>wheelDiameter</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">wheelDiameter</span></div>
<div class="block">Wheel diameter in meters.</div>
</section>
</li>
<li>
<section class="detail" id="driveGearRatio">
<h3>driveGearRatio</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">driveGearRatio</span></div>
<div class="block">Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.</div>
</section>
</li>
<li>
<section class="detail" id="angleGearRatio">
<h3>angleGearRatio</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleGearRatio</span></div>
<div class="block">Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.</div>
</section>
</li>
<li>
<section class="detail" id="driveEncoderPulsePerRotation">
<h3>driveEncoderPulsePerRotation</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">driveEncoderPulsePerRotation</span></div>
<div class="block">Drive motor encoder pulse per rotation. 1 if integrated encoder.</div>
</section>
</li>
<li>
<section class="detail" id="angleEncoderPulsePerRotation">
<h3>angleEncoderPulsePerRotation</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">angleEncoderPulsePerRotation</span></div>
<div class="block">Angle motor encoder pulse per rotation. 1 for Neo encoder. 2048 for Falcons.</div>
</section>
</li>
<li>
<section class="detail" id="optimalVoltage">
<h3>optimalVoltage</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">optimalVoltage</span></div>
<div class="block">Optimal voltage of the robot.</div>
</section>
</li>
<li>
<section class="detail" id="driveMotorCurrentLimit">
<h3>driveMotorCurrentLimit</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">driveMotorCurrentLimit</span></div>
@@ -283,12 +208,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="moduleSteerFFCL">
<h3>moduleSteerFFCL</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">moduleSteerFFCL</span></div>
<div class="block">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.</div>
<section class="detail" id="optimalVoltage">
<h3>optimalVoltage</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">optimalVoltage</span></div>
<div class="block">The voltage to use for the smart motor voltage compensation.</div>
</section>
</li>
<li>
<section class="detail" id="conversionFactor">
<h3>conversionFactor</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></span>&nbsp;<span class="element-name">conversionFactor</span></div>
<div class="block">The conversion factors for the drive and angle motors, created by
<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> and
<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</div>
</section>
</li>
</ul>
@@ -300,27 +232,21 @@ loadScripts(document, 'script');</script>
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,int,int,double,double,int,int,double)">
<section class="detail" id="&lt;init&gt;(swervelib.parser.json.MotorConfigDouble,double,double,int,int,double,double)">
<h3>SwerveModulePhysicalCharacteristics</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;wheelDiameter,
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a>&nbsp;conversionFactors,
double&nbsp;wheelGripCoefficientOfFriction,
double&nbsp;optimalVoltage,
int&nbsp;driveMotorCurrentLimit,
int&nbsp;angleMotorCurrentLimit,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation,
double&nbsp;moduleSteerFFCL)</span></div>
double&nbsp;angleMotorRampRate)</span></div>
<div class="block">Construct the swerve module physical characteristics.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the
wheel.</dd>
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
<dd><code>conversionFactors</code> - The conversion factors for the drive and angle motors, created by
<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> and
<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</dd>
<dd><code>wheelGripCoefficientOfFriction</code> - Wheel grip coefficient of friction on carpet given by manufacturer.</dd>
<dd><code>optimalVoltage</code> - Optimal robot voltage.</dd>
<dd><code>driveMotorCurrentLimit</code> - Current limit for the drive motor.</dd>
@@ -329,37 +255,27 @@ loadScripts(document, 'script');</script>
over drawing power from battery)</dd>
<dd><code>angleMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents
overdrawing power and power loss).</dd>
<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
<dd><code>moduleSteerFFCL</code> - The kV applied to the steering motor to ensure your drivetrain does not drift
towards a direction when rotating while translating.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,int,int)">
<section class="detail" id="&lt;init&gt;(swervelib.parser.json.MotorConfigDouble,double,double)">
<h3>SwerveModulePhysicalCharacteristics</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;wheelDiameter,
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a>&nbsp;conversionFactors,
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</span></div>
double&nbsp;angleMotorRampRate)</span></div>
<div class="block">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.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.</dd>
<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents over
drawing power from battery)</dd>
<dd><code>angleMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents
overdrawing power and power loss).</dd>
<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
<dd><code>conversionFactors</code> - The conversion factors for the drive and angle motors, created by
<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> and
<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</dd>
<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents over drawing
power from battery)</dd>
<dd><code>angleMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents overdrawing
power and power loss).</dd>
</dl>
</section>
</li>

112
docs/swervelib/parser/SwerveParser.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>SwerveParser</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveParser">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -156,19 +156,40 @@ loadScripts(document, 'script');</script>
<div class="block">Check directory structure.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createSwerveDrive()" class="member-name-link">createSwerveDrive</a>()</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createSwerveDrive(double)" class="member-name-link">createSwerveDrive</a><wbr>(double&nbsp;maxSpeed)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">getModuleConfigurationByName</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createSwerveDrive(double,double,double)" class="member-name-link">createSwerveDrive</a><wbr>(double&nbsp;maxSpeed,
double&nbsp;angleMotorConversionFactor,
double&nbsp;driveMotorConversion)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward,double)" class="member-name-link">createSwerveDrive</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward,
double&nbsp;maxSpeed)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward,double,double,double)" class="member-name-link">createSwerveDrive</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward,
double&nbsp;maxSpeed,
double&nbsp;angleMotorConversionFactor,
double&nbsp;driveMotorConversion)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getModuleConfigurationByName(java.lang.String,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">getModuleConfigurationByName</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name,
<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Get the swerve module by the json name.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private com.fasterxml.jackson.databind.JsonNode</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#openJson(java.io.File)" class="member-name-link">openJson</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/File.html" title="class or interface in java.io" class="external-link">File</a>&nbsp;file)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private com.fasterxml.jackson.databind.JsonNode</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#openJson(java.io.File)" class="member-name-link">openJson</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/io/File.html" title="class or interface in java.io" class="external-link">File</a>&nbsp;file)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Open JSON file.</div>
</div>
</div>
@@ -300,11 +321,80 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="createSwerveDrive()">
<section class="detail" id="createSwerveDrive(double)">
<h3>createSwerveDrive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></span>&nbsp;<span class="element-name">createSwerveDrive</span>()</div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></span>&nbsp;<span class="element-name">createSwerveDrive</span><wbr><span class="parameters">(double&nbsp;maxSpeed)</span></div>
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>maxSpeed</code> - Maximum speed of the robot in meters per second, used for both angular acceleration used in
<a href="../SwerveController.html" title="class in swervelib"><code>SwerveController</code></a> and drive feedforward in
<a href="../math/SwerveMath.html#createDriveFeedforward(double,double,double)"><code>SwerveMath.createDriveFeedforward(double, double, double)</code></a>.</dd>
<dt>Returns:</dt>
<dd><a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> instance.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="createSwerveDrive(double,double,double)">
<h3>createSwerveDrive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></span>&nbsp;<span class="element-name">createSwerveDrive</span><wbr><span class="parameters">(double&nbsp;maxSpeed,
double&nbsp;angleMotorConversionFactor,
double&nbsp;driveMotorConversion)</span></div>
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>maxSpeed</code> - Maximum speed of the robot in meters per second, used for both angular
acceleration used in <a href="../SwerveController.html" title="class in swervelib"><code>SwerveController</code></a> and drive feedforward in
<a href="../math/SwerveMath.html#createDriveFeedforward(double,double,double)"><code>SwerveMath.createDriveFeedforward(double, double, double)</code></a>.</dd>
<dd><code>angleMotorConversionFactor</code> - Angle (AKA azimuth) motor conversion factor to convert motor controller PID loop
units to degrees, usually created using
<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</dd>
<dd><code>driveMotorConversion</code> - Drive motor conversion factor to convert motor controller PID loop units to
meters per rotation, usually created using
<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a>.</dd>
<dt>Returns:</dt>
<dd><a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> instance.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward,double,double,double)">
<h3>createSwerveDrive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></span>&nbsp;<span class="element-name">createSwerveDrive</span><wbr><span class="parameters">(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward,
double&nbsp;maxSpeed,
double&nbsp;angleMotorConversionFactor,
double&nbsp;driveMotorConversion)</span></div>
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveFeedforward</code> - Drive feedforward to use for swerve modules, should be created using
<a href="../math/SwerveMath.html#createDriveFeedforward(double,double,double)"><code>SwerveMath.createDriveFeedforward(double, double, double)</code></a>.</dd>
<dd><code>maxSpeed</code> - Maximum speed of the robot in meters per second for normal+angular acceleration
in <a href="../SwerveController.html" title="class in swervelib"><code>SwerveController</code></a> of the robot.</dd>
<dd><code>angleMotorConversionFactor</code> - Angle (AKA azimuth) motor conversion factor to convert motor controller PID loop
units to degrees, usually created using
<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</dd>
<dd><code>driveMotorConversion</code> - Drive motor conversion factor to convert motor controller PID loop units to
meters per rotation, usually created using
<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a>.</dd>
<dt>Returns:</dt>
<dd><a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> instance.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward,double)">
<h3>createSwerveDrive</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveDrive.html" title="class in swervelib">SwerveDrive</a></span>&nbsp;<span class="element-name">createSwerveDrive</span><wbr><span class="parameters">(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;driveFeedforward,
double&nbsp;maxSpeed)</span></div>
<div class="block">Create <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> from JSON configuration directory.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveFeedforward</code> - Drive feedforward to use for swerve modules, should be created using
<a href="../math/SwerveMath.html#createDriveFeedforward(double,double,double)"><code>SwerveMath.createDriveFeedforward(double, double, double)</code></a>.</dd>
<dd><code>maxSpeed</code> - Maximum speed of the robot in meters per second for normal+angular acceleration in
<a href="../SwerveController.html" title="class in swervelib"><code>SwerveController</code></a> of the robot</dd>
<dt>Returns:</dt>
<dd><a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> instance.</dd>
</dl>

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>PIDFRange</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.deserializer, class: PIDFRange">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>swervelib.parser.deserializer</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.deserializer">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>swervelib.parser.deserializer Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="tree: package: swervelib.parser.deserializer">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">

13
docs/swervelib/parser/json/ControllerPropertiesJson.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>ControllerPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.json, class: ControllerPropertiesJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -129,7 +129,8 @@ loadScripts(document, 'script');</script>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">createControllerConfiguration</a><wbr>(<a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration,double)" class="member-name-link">createControllerConfiguration</a><wbr>(<a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration,
double&nbsp;maxSpeedMPS)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create the <a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> based on parsed and given data.</div>
</div>
@@ -187,13 +188,15 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration)">
<section class="detail" id="createControllerConfiguration(swervelib.parser.SwerveDriveConfiguration,double)">
<h3>createControllerConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></span>&nbsp;<span class="element-name">createControllerConfiguration</span><wbr><span class="parameters">(<a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration)</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a></span>&nbsp;<span class="element-name">createControllerConfiguration</span><wbr><span class="parameters">(<a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveConfiguration,
double&nbsp;maxSpeedMPS)</span></div>
<div class="block">Create the <a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> based on parsed and given data.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveConfiguration</code> - <a href="../SwerveDriveConfiguration.html" title="class in swervelib.parser"><code>SwerveDriveConfiguration</code></a> parsed configuration.</dd>
<dd><code>maxSpeedMPS</code> - Maximum speed in meters per second for the angular acceleration of the robot.</dd>
<dt>Returns:</dt>
<dd><a href="../SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> object based on parsed data.</dd>
</dl>

22
docs/swervelib/parser/json/DeviceJson.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>DeviceJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.json, class: DeviceJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -153,11 +153,6 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create a <a href="../../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> from the given configuration.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>int</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPulsePerRotation(int)" class="member-name-link">getPulsePerRotation</a><wbr>(int&nbsp;angleEncoderPulsePerRotation)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the encoder pulse per rotation based off of the encoder type.</div>
</div>
</div>
</div>
</div>
@@ -269,19 +264,6 @@ loadScripts(document, 'script');</script>
</dl>
</section>
</li>
<li>
<section class="detail" id="getPulsePerRotation(int)">
<h3>getPulsePerRotation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">getPulsePerRotation</span><wbr><span class="parameters">(int&nbsp;angleEncoderPulsePerRotation)</span></div>
<div class="block">Get the encoder pulse per rotation based off of the encoder type.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>angleEncoderPulsePerRotation</code> - The configured pulse per rotation.</dd>
<dt>Returns:</dt>
<dd>The correct pulse per rotation based off of the encoder type.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>

35
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>ModuleJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.json, class: ModuleJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -106,10 +106,10 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Angle motor device configuration.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleEncoderPulsePerRevolution" class="member-name-link">angleEncoderPulsePerRevolution</a></code></div>
<div class="col-first odd-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second odd-row-color"><code><a href="#conversionFactor" class="member-name-link">conversionFactor</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The angle encoder pulse per revolution override.</div>
<div class="block">Conversion factor for the module, if different from the one in swervedrive.json</div>
</div>
<div class="col-first even-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second even-row-color"><code><a href="#drive" class="member-name-link">drive</a></code></div>
@@ -159,9 +159,8 @@ loadScripts(document, 'script');</script>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)" class="member-name-link">createModuleConfiguration</a><wbr>(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)" class="member-name-link">createModuleConfiguration</a><wbr>(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
@@ -199,6 +198,17 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="conversionFactor">
<h3>conversionFactor</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></span>&nbsp;<span class="element-name">conversionFactor</span></div>
<div class="block">Conversion factor for the module, if different from the one in swervedrive.json
<p>
Conversion factor applied to the motor controllers PID loops. Can be calculated with
<a href="../../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a> for angle motors or
<a href="../../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> for drive motors.</div>
</section>
</li>
<li>
<section class="detail" id="encoder">
<h3>encoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></span>&nbsp;<span class="element-name">encoder</span></div>
@@ -227,13 +237,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="angleEncoderPulsePerRevolution">
<h3>angleEncoderPulsePerRevolution</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleEncoderPulsePerRevolution</span></div>
<div class="block">The angle encoder pulse per revolution override. 1 for Neo encoder. 2048 for Falcons.</div>
</section>
</li>
<li>
<section class="detail" id="location">
<h3>location</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></span>&nbsp;<span class="element-name">location</span></div>
@@ -263,11 +266,10 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)">
<section class="detail" id="createModuleConfiguration(swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,swervelib.parser.SwerveModulePhysicalCharacteristics,java.lang.String)">
<h3>createModuleConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></span>&nbsp;<span class="element-name">createModuleConfiguration</span><wbr><span class="parameters">(<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="../PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>&nbsp;name)</span></div>
<div class="block">Create the swerve module configuration based off of parsed data.</div>
@@ -275,7 +277,6 @@ loadScripts(document, 'script');</script>
<dt>Parameters:</dt>
<dd><code>anglePIDF</code> - The PIDF values for the angle motor.</dd>
<dd><code>velocityPIDF</code> - The velocity PIDF values for the drive motor.</dd>
<dd><code>maxSpeed</code> - The maximum speed of the robot in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
<dd><code>name</code> - Module json filename.</dd>
<dt>Returns:</dt>

6
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>MotorConfigDouble</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.json, class: MotorConfigDouble">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -72,7 +72,7 @@ loadScripts(document, 'script');</script>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">class </span><span class="element-name type-name-label">MotorConfigDouble</span>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">MotorConfigDouble</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Used to store doubles for motor configuration.</div>
</section>

6
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>MotorConfigInt</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.json, class: MotorConfigInt">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -72,7 +72,7 @@ loadScripts(document, 'script');</script>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">class </span><span class="element-name type-name-label">MotorConfigInt</span>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">MotorConfigInt</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
<div class="block">Used to store ints for motor configuration.</div>
</section>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>PIDFPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.json, class: PIDFPropertiesJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Sep 01 00:20:10 CDT 2023 -->
<!-- Generated by javadoc (17) on Thu Nov 09 18:54:29 CST 2023 -->
<title>PhysicalPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.json, class: PhysicalPropertiesJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -91,31 +91,20 @@ loadScripts(document, 'script');</script>
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a></code></div>
<div class="col-first even-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second even-row-color"><code><a href="#conversionFactor" class="member-name-link">conversionFactor</a></code></div>
<div class="col-last even-row-color">
<div class="block">DEPRECATED: No longer needed, tune <a href="#moduleFeedForwardClosedLoop"><code>moduleFeedForwardClosedLoop</code></a> instead.</div>
<div class="block">Conversion factor applied to the motor controllers PID loops.</div>
</div>
<div class="col-first odd-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second odd-row-color"><code><a href="#currentLimit" class="member-name-link">currentLimit</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The current limit in AMPs to apply to the motors.</div>
</div>
<div class="col-first even-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second even-row-color"><code><a href="#encoderPulsePerRotation" class="member-name-link">encoderPulsePerRotation</a></code></div>
<div class="col-last even-row-color">
<div class="block">Encoder pulse per rotation for non-integrated encoders.</div>
</div>
<div class="col-first odd-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second odd-row-color"><code><a href="#gearRatio" class="member-name-link">gearRatio</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#moduleFeedForwardClosedLoop" class="member-name-link">moduleFeedForwardClosedLoop</a></code></div>
<div class="col-second even-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
<div class="col-last even-row-color">
<div class="block">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.</div>
<div class="block">The voltage to use for the smart motor voltage compensation, default is 12.</div>
</div>
<div class="col-first odd-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second odd-row-color"><code><a href="#rampRate" class="member-name-link">rampRate</a></code></div>
@@ -123,13 +112,8 @@ loadScripts(document, 'script');</script>
<div class="block">The minimum number of seconds to take for the motor to go from 0 to full throttle.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-second even-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last even-row-color">
<div class="block">Wheel diameter in inches.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The grip tape coefficient of friction on carpet.</div>
</div>
</div>
@@ -160,7 +144,7 @@ loadScripts(document, 'script');</script>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createPhysicalProperties(double)" class="member-name-link">createPhysicalProperties</a><wbr>(double&nbsp;optimalVoltage)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#createPhysicalProperties()" class="member-name-link">createPhysicalProperties</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Create the physical characteristics based off the parsed data.</div>
</div>
@@ -182,24 +166,12 @@ loadScripts(document, 'script');</script>
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="wheelDiameter">
<h3>wheelDiameter</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">wheelDiameter</span></div>
<div class="block">Wheel diameter in inches.</div>
</section>
</li>
<li>
<section class="detail" id="gearRatio">
<h3>gearRatio</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></span>&nbsp;<span class="element-name">gearRatio</span></div>
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
</section>
</li>
<li>
<section class="detail" id="encoderPulsePerRotation">
<h3>encoderPulsePerRotation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></span>&nbsp;<span class="element-name">encoderPulsePerRotation</span></div>
<div class="block">Encoder pulse per rotation for non-integrated encoders. 1 for integrated encoders.</div>
<section class="detail" id="conversionFactor">
<h3>conversionFactor</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></span>&nbsp;<span class="element-name">conversionFactor</span></div>
<div class="block">Conversion factor applied to the motor controllers PID loops. Can be calculated with
<a href="../../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a> for angle motors or
<a href="../../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> for drive motors.</div>
</section>
</li>
<li>
@@ -224,19 +196,10 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="moduleFeedForwardClosedLoop">
<h3>moduleFeedForwardClosedLoop</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">moduleFeedForwardClosedLoop</span></div>
<div class="block">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.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorFreeSpeedRPM">
<h3>angleMotorFreeSpeedRPM</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorFreeSpeedRPM</span></div>
<div class="block">DEPRECATED: No longer needed, tune <a href="#moduleFeedForwardClosedLoop"><code>moduleFeedForwardClosedLoop</code></a> instead.</div>
<section class="detail" id="optimalVoltage">
<h3>optimalVoltage</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">optimalVoltage</span></div>
<div class="block">The voltage to use for the smart motor voltage compensation, default is 12.</div>
</section>
</li>
</ul>
@@ -262,13 +225,11 @@ loadScripts(document, 'script');</script>
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="createPhysicalProperties(double)">
<section class="detail" id="createPhysicalProperties()">
<h3>createPhysicalProperties</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></span>&nbsp;<span class="element-name">createPhysicalProperties</span><wbr><span class="parameters">(double&nbsp;optimalVoltage)</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></span>&nbsp;<span class="element-name">createPhysicalProperties</span>()</div>
<div class="block">Create the physical characteristics based off the parsed data.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>optimalVoltage</code> - Optimal voltage to compensate for and use to calculate drive motor feedforward.</dd>
<dt>Returns:</dt>
<dd><a href="../SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser"><code>SwerveModulePhysicalCharacteristics</code></a> based on parsed data.</dd>
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<title>SwerveDriveJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.json, class: SwerveDriveJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../../stylesheet.css" title="Style">
@@ -97,21 +97,11 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Invert the IMU of the robot.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-first even-row-color"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>[]</code></div>
<div class="col-second even-row-color"><code><a href="#modules" class="member-name-link">modules</a></code></div>
<div class="col-last even-row-color">
<div class="block">Maximum robot speed in feet per second.</div>
</div>
<div class="col-first odd-row-color"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#modules" class="member-name-link">modules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Module JSONs in order clockwise order starting from front left.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
<div class="col-last even-row-color">
<div class="block">Optimal voltage to compensate to and base feedforward calculations off of.</div>
</div>
</div>
</section>
</li>
@@ -147,20 +137,6 @@ loadScripts(document, 'script');</script>
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Maximum robot speed in feet per second.</div>
</section>
</li>
<li>
<section class="detail" id="optimalVoltage">
<h3>optimalVoltage</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">optimalVoltage</span></div>
<div class="block">Optimal voltage to compensate to and base feedforward calculations off of.</div>
</section>
</li>
<li>
<section class="detail" id="imu">
<h3>imu</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></span>&nbsp;<span class="element-name">imu</span></div>

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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
<meta name="description" content="declaration: package: swervelib.parser.json.modules, class: BoolMotorJson">
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<title>LocationJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
<meta name="dc.created" content="2023-11-09">
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<title>swervelib.parser.json.modules</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2023-09-01">
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<title>swervelib.parser.json</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
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<title>swervelib.parser.json Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2023-09-01">
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<title>swervelib.parser</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-09-01">
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<title>swervelib.parser Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2023-09-01">
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