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thenetworkgrinch
2023-11-09 18:54:46 -06:00
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docs/swervelib/parser/SwerveModuleConfiguration.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>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 ========= -->