mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-19 06:21:40 +00:00
Updated javadocs
This commit is contained in:
thenetworkgrinch
@@ -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 driveGearRatio,
|
||||
double angleGearRatio,
|
||||
double 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> conversionFactors,
|
||||
double driveMotorRampRate,
|
||||
double angleMotorRampRate,
|
||||
int driveEncoderPulsePerRotation,
|
||||
int angleEncoderPulsePerRotation)</code></div>
|
||||
double 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 driveGearRatio,
|
||||
double angleGearRatio,
|
||||
double 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> conversionFactors,
|
||||
double wheelGripCoefficientOfFriction,
|
||||
double optimalVoltage,
|
||||
int driveMotorCurrentLimit,
|
||||
int angleMotorCurrentLimit,
|
||||
double driveMotorRampRate,
|
||||
double angleMotorRampRate,
|
||||
int driveEncoderPulsePerRotation,
|
||||
int angleEncoderPulsePerRotation,
|
||||
double moduleSteerFFCL)</code></div>
|
||||
double 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> <span class="return-type">double</span> <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> <span class="return-type">double</span> <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> <span class="return-type">double</span> <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> <span class="return-type">int</span> <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> <span class="return-type">int</span> <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> <span class="return-type">double</span> <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> <span class="return-type">int</span> <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> <span class="return-type">double</span> <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> <span class="return-type">double</span> <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> <span class="return-type"><a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></span> <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="<init>(double,double,double,double,double,int,int,double,double,int,int,double)">
|
||||
<section class="detail" id="<init>(swervelib.parser.json.MotorConfigDouble,double,double,int,int,double,double)">
|
||||
<h3>SwerveModulePhysicalCharacteristics</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double driveGearRatio,
|
||||
double angleGearRatio,
|
||||
double wheelDiameter,
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a> conversionFactors,
|
||||
double wheelGripCoefficientOfFriction,
|
||||
double optimalVoltage,
|
||||
int driveMotorCurrentLimit,
|
||||
int angleMotorCurrentLimit,
|
||||
double driveMotorRampRate,
|
||||
double angleMotorRampRate,
|
||||
int driveEncoderPulsePerRotation,
|
||||
int angleEncoderPulsePerRotation,
|
||||
double moduleSteerFFCL)</span></div>
|
||||
double 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="<init>(double,double,double,double,double,int,int)">
|
||||
<section class="detail" id="<init>(swervelib.parser.json.MotorConfigDouble,double,double)">
|
||||
<h3>SwerveModulePhysicalCharacteristics</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double driveGearRatio,
|
||||
double angleGearRatio,
|
||||
double wheelDiameter,
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a> conversionFactors,
|
||||
double driveMotorRampRate,
|
||||
double angleMotorRampRate,
|
||||
int driveEncoderPulsePerRotation,
|
||||
int angleEncoderPulsePerRotation)</span></div>
|
||||
double 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>
|
||||
|
||||
Reference in New Issue
Block a user