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thenetworkgrinch
2023-11-09 18:54:46 -06:00
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docs/swervelib/parser/json/PhysicalPropertiesJson.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>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>
</dl>