+
private int
+
+
Counter to synchronize the modules relative encoder with absolute encoder when not moving.
-
-
-
+
+
+
Odometry lock to ensure thread safety.
-
private final edu.wpi.first.wpilibj.Notifier
-
-
+
private final edu.wpi.first.wpilibj.Notifier
+
+
WPILib Notifier to keep odometry up to date.
-
-
-
-
Simulation of the swerve drive.
-
-
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
-
+
+
-
Standard deviation of encoders and gyroscopes, usually should not change.
+
Simulation of the swerve drive.
@@ -202,13 +192,6 @@ loadScripts(document, 'script');
Alert to recommend Tuner X if the configuration is compatible.
-
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
-
-
-
The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more
- points and fit a line to it and modify this using
addVisionMeasurement(Pose2d, double, Matrix)
- with the calculated optimal standard deviation.
-
@@ -344,182 +327,187 @@ loadScripts(document, 'script');
edu.wpi.first.math.geometry.Rotation2d
-
+
-
Gets the current pitch angle of the robot, as reported by the imu.
-
-
edu.wpi.first.math.geometry.Pose2d
-
-
-
Gets the current pose (position and rotation) of the robot, as reported by odometry.
-
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
-
-
Gets the current robot-relative velocity (x, y and omega) of the robot
+
Fetch the latest odometry heading, should be trusted over
getYaw().
edu.wpi.first.math.geometry.Rotation2d
-
+
+
Gets the current pitch angle of the robot, as reported by the imu.
+
+
edu.wpi.first.math.geometry.Pose2d
+
+
+
Gets the current pose (position and rotation) of the robot, as reported by odometry.
+
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
+
+
Gets the current robot-relative velocity (x, y and omega) of the robot
+
+
edu.wpi.first.math.geometry.Rotation2d
+
+
Gets the current roll angle of the robot, as reported by the imu.
-
edu.wpi.first.math.kinematics.SwerveModuleState[]
-
-
+
edu.wpi.first.math.kinematics.SwerveModuleState[]
+
+
Gets the current module states (azimuth and velocity)
-
-
-
+
+
+
Helper function to get the
swerveController for the
SwerveDrive which can be used to
generate
ChassisSpeeds for the robot to orient it correctly given axis or angles, and apply
SlewRateLimiter to given inputs.
-
edu.wpi.first.math.geometry.Pose2d[]
-
-
+
edu.wpi.first.math.geometry.Pose2d[]
+
+
Get the swerve module poses and on the field relative to the robot.
-
edu.wpi.first.math.geometry.Rotation2d
-
-
+
edu.wpi.first.math.geometry.Rotation2d
+
+
Gets the current yaw angle of the robot, as reported by the imu.
-
void
-
-
+
void
+
+
Point all modules toward the robot center, thus making the robot very difficult to move.
-
void
-
-
+
void
+
+
Post the trajectory to the field
-
void
-
-
+
void
+
+
Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
-
void
-
-
+
void
+
+
Setup the swerve module feedforward.
-
void
-
-
+
void
+
+
Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in
autonomous.
-
void
-
-
+
void
+
+
Resets odometry to the given pose.
-
void
-
-
+
void
+
+
Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
-
void
-
-
+
void
+
+
Set the conversion factor for the angle/azimuth motor controller.
-
void
-
-
+
void
+
+
Set chassis speeds with closed-loop velocity control.
-
void
-
-
+
void
+
+
Set the conversion factor for the drive motor controller.
-
void
-
setGyro (edu.wpi.first.math.geometry.Rotation3d gyro)
-
+
void
+
setGyro (edu.wpi.first.math.geometry.Rotation3d gyro)
+
Set the expected gyroscope angle using a Rotation3d object.
-
void
-
-
+
void
+
+
Set the gyro scope offset to a desired known rotation.
-
void
-
-
-
Set the heading correction capabilities of YAGSL.
-
void
-
+
Set the heading correction capabilities of YAGSL.
void
-
+
+
Set the heading correction capabilities of YAGSL.
+
+
void
+
+
-
void
-
setMaximumSpeed (double maximumSpeed,
+void
+setMaximumSpeed (double maximumSpeed,
boolean updateModuleFeedforward,
double optimalVoltage)
+
-
void
-
setMaximumSpeeds (double attainableMaxModuleSpeedMetersPerSecond,
+void
+setMaximumSpeeds (double attainableMaxModuleSpeedMetersPerSecond,
double attainableMaxTranslationalSpeedMetersPerSecond,
double attainableMaxRotationalVelocityRadiansPerSecond)
+
Set the maximum speeds for desaturation.
-
void
-
setModuleStates (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
+void
+setModuleStates (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
boolean isOpenLoop)
+
Set the module states (azimuth and velocity) directly.
-
void
-
-
+
void
+
+
Sets the drive motors to brake/coast mode.
-
void
-
-
+
void
+
+
Set the odometry update period in seconds.
-
private void
-
setRawModuleStates (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
+private void
+setRawModuleStates (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates,
boolean isOpenLoop)
+
Set the module states (azimuth and velocity) directly.
-
void
-
-
+
void
+
+
Stop the odometry thread in favor of manually updating odometry.
-
void
-
-
+
void
+
+
Synchronize angle motor integrated encoders with data from absolute encoders.
-
void
-
-
+
void
+
+
Update odometry should be run every loop.
-
void
-
-
+
void
+
+
Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
@@ -582,10 +570,10 @@ loadScripts(document, 'script');
-
-HEADING_CORRECTION_DEADBAND
-private double HEADING_CORRECTION_DEADBAND
-Deadband for speeds in heading correction.
+
+tunerXRecommendation
+private final Alert tunerXRecommendation Alert to recommend Tuner X if the configuration is compatible.
@@ -603,31 +591,6 @@ loadScripts(document, 'script');
-
-stateStdDevs
-public edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> stateStdDevs
-Standard deviation of encoders and gyroscopes, usually should not change. (meters of position and degrees of
- rotation)
-
-
-
-
-visionMeasurementStdDevs
-public edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs
-The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more
- points and fit a line to it and modify this using
addVisionMeasurement(Pose2d, double, Matrix)
- with the calculated optimal standard deviation. (Units should be meters per pixel). By optimizing this you can get
- vision accurate to inches instead of feet.
-
-
-
-invertOdometry
-public boolean invertOdometry
-Invert odometry readings of drive motor positions, used as a patch for debugging currently.
-
-
-
chassisVelocityCorrection
public boolean chassisVelocityCorrection
@@ -643,6 +606,13 @@ loadScripts(document, 'script');
+
+HEADING_CORRECTION_DEADBAND
+private double HEADING_CORRECTION_DEADBAND
+Deadband for speeds in heading correction.
+
+
+
correctionEnabled
private boolean correctionEnabled
@@ -698,13 +668,6 @@ loadScripts(document, 'script');
Maximum speed of the robot in meters per second.
-
-
-tunerXRecommendation
-private final Alert tunerXRecommendation Alert to recommend Tuner X if the configuration is compatible.
-
-
@@ -792,6 +755,17 @@ loadScripts(document, 'script');
+
+getOdometryHeading
+public edu.wpi.first.math.geometry.Rotation2d getOdometryHeading ()
+Fetch the latest odometry heading, should be trusted over
getYaw().
+Returns:
+Rotation2d of the robot heading.
+
+
+
setHeadingCorrection
public void setHeadingCorrection (boolean state)
@@ -1083,8 +1057,7 @@ loadScripts(document, 'script');
getModulePositions
public edu.wpi.first.math.kinematics.SwerveModulePosition[] getModulePositions ()
-Gets the current module positions (azimuth and wheel position (meters)). Inverts the distance from each module if
-
invertOdometry is true.
Gets the current module positions (azimuth and wheel position (meters)).
Returns:
A list of SwerveModulePositions containg the current module positions
@@ -1260,23 +1233,6 @@ loadScripts(document, 'script');
-
-addVisionMeasurement
-public void addVisionMeasurement (edu.wpi.first.math.geometry.Pose2d robotPose,
- double timestamp)
-Add a vision measurement to the
SwerveDrivePoseEstimator and update the
SwerveIMU gyro reading with
- the given timestamp of the vision measurement.
IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET
- AFTER USING THIS FUNCTION! To update your gyroscope readings directly use
-
setGyroOffset(Rotation3d).
-Parameters:
-robotPose - Robot Pose2d as measured by vision.timestamp - Timestamp the measurement was taken as time since startup, should be taken from
- Timer.getFPGATimestamp() or similar sources.
-
-
-
addVisionMeasurement
public void addVisionMeasurement (edu.wpi.first.math.geometry.Pose2d robotPose,
@@ -1299,6 +1255,23 @@ loadScripts(document, 'script');
+
+addVisionMeasurement
+public void addVisionMeasurement (edu.wpi.first.math.geometry.Pose2d robotPose,
+ double timestamp)
+Add a vision measurement to the
SwerveDrivePoseEstimator and update the
SwerveIMU gyro reading with
+ the given timestamp of the vision measurement.
IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET
+ AFTER USING THIS FUNCTION! To update your gyroscope readings directly use
+
setGyroOffset(Rotation3d).
+Parameters:
+robotPose - Robot Pose2d as measured by vision.timestamp - Timestamp the measurement was taken as time since startup, should be taken from
+ Timer.getFPGATimestamp() or similar sources.
+
+
+
setGyro
public void setGyro (edu.wpi.first.math.geometry.Rotation3d gyro)
diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html
index de3cdc5..b96aa37 100644
--- a/docs/swervelib/SwerveModule.html
+++ b/docs/swervelib/SwerveModule.html
@@ -1,11 +1,11 @@
-
+
SwerveModule
AnalogAbsoluteEncoderSwerve
CANCoderSwerve
CanAndCoderSwerve
PWMDutyCycleEncoderSwerve
SparkMaxAnalogEncoderSwerve
SparkMaxEncoderSwerve
SwerveAbsoluteEncoder
swervelib.encoders
swervelib.encoders Class Hierarchy
ADIS16448Swerve
ADIS16448_IMU device to read the current headings from.
-private edu.wpi.first.math.geometry.Rotation3d
-
+private boolean
+
+
Inversion for the gyro
+
private edu.wpi.first.math.geometry.Rotation3d
+
+
Offset for the ADIS16448.
Fetch the Rotation3d from the IMU.
void
-
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
+
Set the gyro to invert its default direction
+
+
void
+
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
@@ -198,6 +208,13 @@ loadScripts(document, 'script');
Offset for the ADIS16448.
+
+
+invertedIMU
+private boolean invertedIMU
+Inversion for the gyro
+
+
@@ -257,6 +274,19 @@ loadScripts(document, 'script');
+
+setInverted
+public void setInverted (boolean invertIMU)
+Set the gyro to invert its default direction
+
+Specified by:
+setInverted SwerveIMU Parameters:
+invertIMU - invert gyro direction
+
+
+
getRawRotation3d
public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d ()
diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html
index ecb877d..bfc358e 100644
--- a/docs/swervelib/imu/ADIS16470Swerve.html
+++ b/docs/swervelib/imu/ADIS16470Swerve.html
@@ -1,11 +1,11 @@
-
+
ADIS16470Swerve
ADIS16470_IMU device to read the current headings from.
-private edu.wpi.first.math.geometry.Rotation3d
-
+private boolean
+
+
Inversion for the gyro
+
private edu.wpi.first.math.geometry.Rotation3d
+
+
Offset for the ADIS16470.
@@ -163,8 +168,13 @@ loadScripts(document, 'script');
Fetch the Rotation3d from the IMU.
void
-setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
Set the gyro to invert its default direction
+
void
+setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
@@ -198,6 +208,13 @@ loadScripts(document, 'script');
Offset for the ADIS16470.
+
+
+invertedIMU
+private boolean invertedIMU
+Inversion for the gyro
+
+
@@ -257,6 +274,19 @@ loadScripts(document, 'script');
+
+setInverted
+public void setInverted (boolean invertIMU)
+Set the gyro to invert its default direction
+
+Specified by:
+setInverted SwerveIMU Parameters:
+invertIMU - invert gyro direction
+
+
+
getRawRotation3d
public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d ()
diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html
index 9d694ea..3e689aa 100644
--- a/docs/swervelib/imu/ADXRS450Swerve.html
+++ b/docs/swervelib/imu/ADXRS450Swerve.html
@@ -1,11 +1,11 @@
-
+
ADXRS450Swerve
ADXRS450_Gyro device to read the current headings from.
-private edu.wpi.first.math.geometry.Rotation3d
-
+private boolean
+
+
Inversion for the gyro
+
private edu.wpi.first.math.geometry.Rotation3d
+
+
@@ -163,8 +168,13 @@ loadScripts(document, 'script');
Fetch the Rotation3d from the IMU.
void
-
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
+
Set the gyro to invert its default direction
+
+
void
+
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
Offset for the ADXRS450.
+
+
+invertedIMU
+private boolean invertedIMU
+Inversion for the gyro
+
+
@@ -257,6 +274,19 @@ loadScripts(document, 'script');
+
+setInverted
+public void setInverted (boolean invertIMU)
+Set the gyro to invert its default direction
+
+Specified by:
+setInverted SwerveIMU Parameters:
+invertIMU - invert gyro direction
+
+
+
getRawRotation3d
public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d ()
diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html
index 89974a7..47f4dfb 100644
--- a/docs/swervelib/imu/AnalogGyroSwerve.html
+++ b/docs/swervelib/imu/AnalogGyroSwerve.html
@@ -1,11 +1,11 @@
-
+
AnalogGyroSwerve
private edu.wpi.first.math.geometry.Rotation3d
-
+private boolean
+
+
Inversion for the gyro
+
private edu.wpi.first.math.geometry.Rotation3d
+
+
Offset for the analog gyro.
@@ -163,8 +168,13 @@ loadScripts(document, 'script');
Fetch the Rotation3d from the IMU.
void
-setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
Set the gyro to invert its default direction
+
void
+setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
@@ -198,6 +208,13 @@ loadScripts(document, 'script');
Offset for the analog gyro.
+
+
+invertedIMU
+private boolean invertedIMU
+Inversion for the gyro
+
+
@@ -261,6 +278,19 @@ loadScripts(document, 'script');
+
+setInverted
+public void setInverted (boolean invertIMU)
+Set the gyro to invert its default direction
+
+Specified by:
+setInverted SwerveIMU Parameters:
+invertIMU - invert gyro direction
+
+
+
getRawRotation3d
public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d ()
diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html
index addadf3..63f4dff 100644
--- a/docs/swervelib/imu/NavXSwerve.html
+++ b/docs/swervelib/imu/NavXSwerve.html
@@ -1,11 +1,11 @@
-
+
NavXSwerve
private boolean
+
+
Inversion for the gyro
+
An
Alert for if there is an error instantiating the NavX.
-private edu.wpi.first.math.geometry.Rotation3d
-
-
+
private edu.wpi.first.math.geometry.Rotation3d
+
+
Fetch the Rotation3d from the IMU.
void
-setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
Set the gyro to invert its default direction
+
void
+setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
@@ -212,6 +222,13 @@ loadScripts(document, 'script');
+
+invertedIMU
+private boolean invertedIMU
+Inversion for the gyro
+
+
+
navXError
@@ -303,6 +320,19 @@ loadScripts(document, 'script');
+
+setInverted
+public void setInverted (boolean invertIMU)
+Set the gyro to invert its default direction
+
+Specified by:
+setInverted SwerveIMU Parameters:
+invertIMU - invert gyro direction
+
+
+
getRawRotation3d
public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d ()
diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html
index 0a09769..6a147da 100644
--- a/docs/swervelib/imu/Pigeon2Swerve.html
+++ b/docs/swervelib/imu/Pigeon2Swerve.html
@@ -1,11 +1,11 @@
-
+
Pigeon2Swerve
private edu.wpi.first.math.geometry.Rotation3d
-
+private boolean
+
+
Inversion for the gyro
+
private edu.wpi.first.math.geometry.Rotation3d
+
+
@@ -168,8 +173,13 @@ loadScripts(document, 'script');
Fetch the Rotation3d from the IMU.
void
-
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
+
Set the gyro to invert its default direction
+
+
void
+
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
@@ -203,6 +213,13 @@ loadScripts(document, 'script');
Offset for the Pigeon 2.
+
+
+invertedIMU
+private boolean invertedIMU
+Inversion for the gyro
+
+
@@ -279,6 +296,19 @@ loadScripts(document, 'script');
+
+setInverted
+public void setInverted (boolean invertIMU)
+Set the gyro to invert its default direction
+
+Specified by:
+setInverted SwerveIMU Parameters:
+invertIMU - invert gyro direction
+
+
+
getRawRotation3d
public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d ()
diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html
index 0dcb7dd..f01a245 100644
--- a/docs/swervelib/imu/PigeonSwerve.html
+++ b/docs/swervelib/imu/PigeonSwerve.html
@@ -1,11 +1,11 @@
-
+
PigeonSwerve
private edu.wpi.first.math.geometry.Rotation3d
-
+private boolean
+
+
Inversion for the gyro
+
private edu.wpi.first.math.geometry.Rotation3d
+
+
@@ -163,8 +168,13 @@ loadScripts(document, 'script');
Fetch the Rotation3d from the IMU.
void
-
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
+
Set the gyro to invert its default direction
+
+
void
+
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
@@ -198,6 +208,13 @@ loadScripts(document, 'script');
Offset for the Pigeon.
+
+
+invertedIMU
+private boolean invertedIMU
+Inversion for the gyro
+
+
@@ -261,6 +278,19 @@ loadScripts(document, 'script');
+
+setInverted
+public void setInverted (boolean invertIMU)
+Set the gyro to invert its default direction
+
+Specified by:
+setInverted SwerveIMU Parameters:
+invertIMU - invert gyro direction
+
+
+
getRawRotation3d
public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d ()
diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html
index 4cc8291..1320268 100644
--- a/docs/swervelib/imu/SwerveIMU.html
+++ b/docs/swervelib/imu/SwerveIMU.html
@@ -1,11 +1,11 @@
-
+
SwerveIMU
Fetch the Rotation3d from the IMU.
abstract void
-
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
+
Set the gyro to invert its default direction.
+
+
abstract void
+
setOffset (edu.wpi.first.math.geometry.Rotation3d offset)
+
@@ -202,6 +207,17 @@ loadScripts(document, 'script');
+
+setInverted
+public abstract void setInverted (boolean invertIMU)
+Set the gyro to invert its default direction.
+
+Parameters:
+invertIMU - gyro direction
+
+
+
getRawRotation3d
public abstract edu.wpi.first.math.geometry.Rotation3d getRawRotation3d ()
diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html
index 398b6c6..47da48f 100644
--- a/docs/swervelib/imu/package-summary.html
+++ b/docs/swervelib/imu/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.imu
swervelib.imu Class Hierarchy
Matter
SwerveMath
swervelib.math
swervelib.math Class Hierarchy
SparkFlexSwerve.SparkMAX_slotIdx
SparkFlexSwerve
SparkMaxBrushedMotorSwerve
SparkMaxSwerve.SparkMAX_slotIdx
SparkMaxSwerve
SwerveMotor
TalonFXSwerve
-
-conversionFactor
-private double conversionFactor
-Conversion factor for the motor.
-
-
-
motor
com.ctre.phoenix6.hardware.TalonFX motor
@@ -373,6 +366,13 @@ loadScripts(document, 'script');
+
+conversionFactor
+private double conversionFactor
+Conversion factor for the motor.
+
+
+
configuration
private com.ctre.phoenix6.configs.TalonFXConfiguration configuration
diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html
index 7d0ebc6..bb0b839 100644
--- a/docs/swervelib/motors/TalonSRXSwerve.html
+++ b/docs/swervelib/motors/TalonSRXSwerve.html
@@ -1,11 +1,11 @@
-
+
TalonSRXSwerve
swervelib.motors
swervelib.motors Class Hierarchy
swervelib
swervelib Class Hierarchy
PIDFConfig
SwerveControllerConfiguration
SwerveDriveConfiguration
boolean
-
+int
+
-
Invert the imu measurements.
-
int
-
-
Number of modules on the robot.
-edu.wpi.first.math.geometry.Translation2d[]
-
-
+
edu.wpi.first.math.geometry.Translation2d[]
+
+
-
-
-
+
+
+
-
-
-
+
+
+
Physical characteristics of the swerve drive from physicalproperties.json.
@@ -197,13 +192,6 @@ loadScripts(document, 'script');
-
-invertedIMU
-public boolean invertedIMU
-Invert the imu measurements.
-
-
-
moduleCount
public int moduleCount
diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html
index 799a5ee..96bfda3 100644
--- a/docs/swervelib/parser/SwerveModuleConfiguration.html
+++ b/docs/swervelib/parser/SwerveModuleConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleConfiguration
SwerveModulePhysicalCharacteristics
SwerveParser
PIDFRange
swervelib.parser.deserializer
swervelib.parser.deserializer Class Hierarchy
ControllerPropertiesJson
DeviceJson
ModuleJson
MotorConfigDouble
MotorConfigInt
PIDFPropertiesJson
PhysicalPropertiesJson
SwerveDriveJson
BoolMotorJson
LocationJson
swervelib.parser.json.modules
swervelib.parser.json.modules Class Hierarchy
swervelib.parser.json
swervelib.parser.json Class Hierarchy
swervelib.parser
swervelib.parser Class Hierarchy
SwerveIMUSimulation
SwerveModuleSimulation
swervelib.simulation
swervelib.simulation Class Hierarchy
Alert.AlertType
Alert.SendableAlerts
Alert
SwerveDriveTelemetry.TelemetryVerbosity
SwerveDriveTelemetry
swervelib.telemetry
swervelib.telemetry Class Hierarchy
stateStdDevs = VecBuilder.fill(0.1,
- 0.1,
- 0.1);
- /**
- * The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more
- * points and fit a line to it and modify this using {@link SwerveDrive#addVisionMeasurement(Pose2d, double, Matrix)}
- * with the calculated optimal standard deviation. (Units should be meters per pixel). By optimizing this you can get
- * vision accurate to inches instead of feet.
- */
- public Matrix visionMeasurementStdDevs = VecBuilder.fill(0.9,
- 0.9,
- 0.9);
- /**
- * Invert odometry readings of drive motor positions, used as a patch for debugging currently.
- */
- public boolean invertOdometry = false;
/**
* Correct chassis velocity in {@link SwerveDrive#drive(Translation2d, double, boolean, boolean)} using 254's
* correction.
@@ -112,6 +94,10 @@ public class SwerveDrive
* Whether to correct heading when driving translationally. Set to true to enable.
*/
public boolean headingCorrection = false;
+ /**
+ * Deadband for speeds in heading correction.
+ */
+ private double HEADING_CORRECTION_DEADBAND = 0.01;
/**
* Whether heading correction PID is currently active.
*/
@@ -144,13 +130,6 @@ public class SwerveDrive
* Maximum speed of the robot in meters per second.
*/
private double maxSpeedMPS;
- /**
- * Alert to recommend Tuner X if the configuration is compatible.
- */
- private final Alert tunerXRecommendation = new Alert("Swerve Drive",
- "Your Swerve Drive is compatible with Tuner X swerve generator, please consider using that instead of YAGSL. More information here!\n" +
- "https://pro.docs.ctr-electronics.com/en/latest/docs/tuner/tuner-swerve/index.html",
- AlertType.WARNING);
/**
* Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the
@@ -194,9 +173,8 @@ public class SwerveDrive
kinematics,
getYaw(),
getModulePositions(),
- new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(0)),
- stateStdDevs,
- visionMeasurementStdDevs); // x,y,heading in radians; Vision measurement std dev, higher=less weight
+ new Pose2d(new Translation2d(0, 0),
+ Rotation2d.fromDegrees(0))); // x,y,heading in radians; Vision measurement std dev, higher=less weight
zeroGyro();
@@ -308,6 +286,16 @@ public class SwerveDrive
}
}
+ /**
+ * Fetch the latest odometry heading, should be trusted over {@link SwerveDrive#getYaw()}.
+ *
+ * @return {@link Rotation2d} of the robot heading.
+ */
+ public Rotation2d getOdometryHeading()
+ {
+ return swerveDrivePoseEstimator.getEstimatedPosition().getRotation();
+ }
+
/**
* Set the heading correction capabilities of YAGSL.
*
@@ -337,7 +325,7 @@ public class SwerveDrive
*/
public void driveFieldOriented(ChassisSpeeds velocity)
{
- ChassisSpeeds fieldOrientedVelocity = ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getYaw());
+ ChassisSpeeds fieldOrientedVelocity = ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getOdometryHeading());
drive(fieldOrientedVelocity);
}
@@ -349,7 +337,7 @@ public class SwerveDrive
*/
public void driveFieldOriented(ChassisSpeeds velocity, Translation2d centerOfRotationMeters)
{
- ChassisSpeeds fieldOrientedVelocity = ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getYaw());
+ ChassisSpeeds fieldOrientedVelocity = ChassisSpeeds.fromFieldRelativeSpeeds(velocity, getOdometryHeading());
drive(fieldOrientedVelocity, centerOfRotationMeters);
}
@@ -401,7 +389,7 @@ public class SwerveDrive
ChassisSpeeds velocity =
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
- translation.getX(), translation.getY(), rotation, getYaw())
+ translation.getX(), translation.getY(), rotation, getOdometryHeading())
: new ChassisSpeeds(translation.getX(), translation.getY(), rotation);
drive(velocity, isOpenLoop, centerOfRotationMeters);
@@ -430,7 +418,7 @@ public class SwerveDrive
ChassisSpeeds velocity =
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
- translation.getX(), translation.getY(), rotation, getYaw())
+ translation.getX(), translation.getY(), rotation, getOdometryHeading())
: new ChassisSpeeds(translation.getX(), translation.getY(), rotation);
drive(velocity, isOpenLoop, new Translation2d());
@@ -466,11 +454,11 @@ public class SwerveDrive
{
if (!correctionEnabled)
{
- lastHeadingRadians = getYaw().getRadians();
+ lastHeadingRadians = getOdometryHeading().getRadians();
correctionEnabled = true;
}
velocity.omegaRadiansPerSecond =
- swerveController.headingCalculate(lastHeadingRadians, getYaw().getRadians());
+ swerveController.headingCalculate(lastHeadingRadians, getOdometryHeading().getRadians());
} else
{
correctionEnabled = false;
@@ -623,7 +611,7 @@ public class SwerveDrive
// angle
// given as the robot angle reverses the direction of rotation, and the conversion is reversed.
return ChassisSpeeds.fromFieldRelativeSpeeds(
- kinematics.toChassisSpeeds(getStates()), getYaw().unaryMinus());
+ kinematics.toChassisSpeeds(getStates()), getOdometryHeading().unaryMinus());
}
/**
@@ -646,7 +634,7 @@ public class SwerveDrive
public void resetOdometry(Pose2d pose)
{
odometryLock.lock();
- swerveDrivePoseEstimator.resetPosition(pose.getRotation(), getModulePositions(), pose);
+ swerveDrivePoseEstimator.resetPosition(getYaw(), getModulePositions(), pose);
odometryLock.unlock();
kinematics.toSwerveModuleStates(ChassisSpeeds.fromFieldRelativeSpeeds(0, 0, 0, pose.getRotation()));
}
@@ -680,8 +668,7 @@ public class SwerveDrive
}
/**
- * Gets the current module positions (azimuth and wheel position (meters)). Inverts the distance from each module if
- * {@link #invertOdometry} is true.
+ * Gets the current module positions (azimuth and wheel position (meters)).
*
* @return A list of SwerveModulePositions containg the current module positions
*/
@@ -692,10 +679,6 @@ public class SwerveDrive
for (SwerveModule module : swerveModules)
{
positions[module.moduleNumber] = module.getPosition();
- if (invertOdometry)
- {
- positions[module.moduleNumber].distanceMeters *= -1;
- }
}
return positions;
}
@@ -729,9 +712,7 @@ public class SwerveDrive
// Read the imu if the robot is real or the accumulator if the robot is simulated.
if (!SwerveDriveTelemetry.isSimulation)
{
- return swerveDriveConfiguration.invertedIMU
- ? Rotation2d.fromRadians(imu.getRotation3d().unaryMinus().getZ())
- : Rotation2d.fromRadians(imu.getRotation3d().getZ());
+ return Rotation2d.fromRadians(imu.getRotation3d().getZ());
} else
{
return simIMU.getYaw();
@@ -748,9 +729,7 @@ public class SwerveDrive
// Read the imu if the robot is real or the accumulator if the robot is simulated.
if (!SwerveDriveTelemetry.isSimulation)
{
- return swerveDriveConfiguration.invertedIMU
- ? Rotation2d.fromRadians(imu.getRotation3d().unaryMinus().getY())
- : Rotation2d.fromRadians(imu.getRotation3d().getY());
+ return Rotation2d.fromRadians(imu.getRotation3d().getY());
} else
{
return simIMU.getPitch();
@@ -767,9 +746,7 @@ public class SwerveDrive
// Read the imu if the robot is real or the accumulator if the robot is simulated.
if (!SwerveDriveTelemetry.isSimulation)
{
- return swerveDriveConfiguration.invertedIMU
- ? Rotation2d.fromRadians(imu.getRotation3d().unaryMinus().getX())
- : Rotation2d.fromRadians(imu.getRotation3d().getX());
+ return Rotation2d.fromRadians(imu.getRotation3d().getX());
} else
{
return simIMU.getRoll();
@@ -786,9 +763,7 @@ public class SwerveDrive
// Read the imu if the robot is real or the accumulator if the robot is simulated.
if (!SwerveDriveTelemetry.isSimulation)
{
- return swerveDriveConfiguration.invertedIMU
- ? imu.getRotation3d().unaryMinus()
- : imu.getRotation3d();
+ return imu.getRotation3d();
} else
{
return simIMU.getGyroRotation3d();
@@ -953,7 +928,7 @@ public class SwerveDrive
SwerveDriveTelemetry.measuredChassisSpeeds[1] = measuredChassisSpeeds.vyMetersPerSecond;
SwerveDriveTelemetry.measuredChassisSpeeds[0] = measuredChassisSpeeds.vxMetersPerSecond;
SwerveDriveTelemetry.measuredChassisSpeeds[2] = Math.toDegrees(measuredChassisSpeeds.omegaRadiansPerSecond);
- SwerveDriveTelemetry.robotRotation = getYaw().getDegrees();
+ SwerveDriveTelemetry.robotRotation = getOdometryHeading().getDegrees();
}
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.LOW.ordinal())
@@ -969,7 +944,8 @@ public class SwerveDrive
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
{
module.updateTelemetry();
- SmartDashboard.putNumber("Adjusted IMU Yaw", getYaw().getDegrees());
+ SmartDashboard.putNumber("Raw IMU Yaw", getYaw().getDegrees());
+ SmartDashboard.putNumber("Adjusted IMU Yaw", getOdometryHeading().getDegrees());
}
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
{
@@ -1027,28 +1003,6 @@ public class SwerveDrive
}
}
- /**
- * Add a vision measurement to the {@link SwerveDrivePoseEstimator} and update the {@link SwerveIMU} gyro reading with
- * the given timestamp of the vision measurement. IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET
- * AFTER USING THIS FUNCTION! visionMeasurementStdDevs)
{
- this.visionMeasurementStdDevs = visionMeasurementStdDevs;
- addVisionMeasurement(robotPose, timestamp);
+ odometryLock.lock();
+ swerveDrivePoseEstimator.addVisionMeasurement(robotPose, timestamp, visionMeasurementStdDevs);
+ odometryLock.unlock();
+ }
+
+ /**
+ * Add a vision measurement to the {@link SwerveDrivePoseEstimator} and update the {@link SwerveIMU} gyro reading with
+ * the given timestamp of the vision measurement. IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET
+ * AFTER USING THIS FUNCTION! w = imu.getQuatW();
- StatusSignal x = imu.getQuatX();
- StatusSignal y = imu.getQuatY();
- StatusSignal z = imu.getQuatZ();
- return new Rotation3d(new Quaternion(w.refresh().getValue(),
- x.refresh().getValue(),
- y.refresh().getValue(),
- z.refresh().getValue()));
+ StatusSignal w = imu.getQuatW();
+ StatusSignal x = imu.getQuatX();
+ StatusSignal y = imu.getQuatY();
+ StatusSignal z = imu.getQuatZ();
+ Rotation3d reading = new Rotation3d(new Quaternion(w.refresh().getValue(),
+ x.refresh().getValue(),
+ y.refresh().getValue(),
+ z.refresh().getValue()));
+ return invertedIMU ? reading.unaryMinus() : reading;
}
/**
diff --git a/swervelib/imu/PigeonSwerve.java b/swervelib/imu/PigeonSwerve.java
index 44fafcc..b9bbcc5 100644
--- a/swervelib/imu/PigeonSwerve.java
+++ b/swervelib/imu/PigeonSwerve.java
@@ -20,7 +20,11 @@ public class PigeonSwerve extends SwerveIMU
/**
* Offset for the Pigeon.
*/
- private Rotation3d offset = new Rotation3d();
+ private Rotation3d offset = new Rotation3d();
+ /**
+ * Inversion for the gyro
+ */
+ private boolean invertedIMU = false;
/**
* Generate the SwerveIMU for pigeon.
@@ -62,6 +66,16 @@ public class PigeonSwerve extends SwerveIMU
this.offset = offset;
}
+ /**
+ * Set the gyro to invert its default direction
+ *
+ * @param invertIMU invert gyro direction
+ */
+ public void setInverted(boolean invertIMU)
+ {
+ invertedIMU = invertIMU;
+ }
+
/**
* Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative.
*
@@ -72,7 +86,8 @@ public class PigeonSwerve extends SwerveIMU
{
double[] wxyz = new double[4];
imu.get6dQuaternion(wxyz);
- return new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3]));
+ Rotation3d reading = new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3]));
+ return invertedIMU ? reading.unaryMinus() : reading;
}
/**
diff --git a/swervelib/imu/SwerveIMU.java b/swervelib/imu/SwerveIMU.java
index 11b39da..dd9a727 100644
--- a/swervelib/imu/SwerveIMU.java
+++ b/swervelib/imu/SwerveIMU.java
@@ -27,6 +27,13 @@ public abstract class SwerveIMU
*/
public abstract void setOffset(Rotation3d offset);
+ /**
+ * Set the gyro to invert its default direction.
+ *
+ * @param invertIMU gyro direction
+ */
+ public abstract void setInverted(boolean invertIMU);
+
/**
* Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative.
*
diff --git a/swervelib/motors/TalonFXSwerve.java b/swervelib/motors/TalonFXSwerve.java
index 29cdf97..cf7effb 100644
--- a/swervelib/motors/TalonFXSwerve.java
+++ b/swervelib/motors/TalonFXSwerve.java
@@ -33,14 +33,14 @@ public class TalonFXSwerve extends SwerveMotor
* Velocity voltage setter for controlling drive motor.
*/
private final VelocityVoltage m_velocityVoltageSetter = new VelocityVoltage(0);
- /**
- * Conversion factor for the motor.
- */
- private double conversionFactor;
/**
* TalonFX motor controller.
*/
TalonFX motor;
+ /**
+ * Conversion factor for the motor.
+ */
+ private double conversionFactor;
/**
* Current TalonFX configuration.
*/
diff --git a/swervelib/parser/SwerveDriveConfiguration.java b/swervelib/parser/SwerveDriveConfiguration.java
index 4cebfb8..e5434de 100644
--- a/swervelib/parser/SwerveDriveConfiguration.java
+++ b/swervelib/parser/SwerveDriveConfiguration.java
@@ -19,10 +19,6 @@ public class SwerveDriveConfiguration
* Swerve IMU
*/
public SwerveIMU imu;
- /**
- * Invert the imu measurements.
- */
- public boolean invertedIMU = false;
/**
* Number of modules on the robot.
*/
@@ -54,7 +50,7 @@ public class SwerveDriveConfiguration
{
this.moduleCount = moduleConfigs.length;
this.imu = swerveIMU;
- this.invertedIMU = invertedIMU;
+ swerveIMU.setInverted(invertedIMU);
this.modules = createModules(moduleConfigs, driveFeedforward);
this.moduleLocationsMeters = new Translation2d[moduleConfigs.length];
for (SwerveModule module : modules)
@@ -92,10 +88,11 @@ public class SwerveDriveConfiguration
Translation2d centerOfModules = moduleLocationsMeters[0];
//Calculate the Center by adding all module offsets together.
- for(int i=1; i groups = new HashMap();
+ private static Map groups = new HashMap();
/**
* Type of the Alert to raise.
*/
- private final AlertType type;
+ private final AlertType type;
/**
* Activation state of alert.
*/
- private boolean active = false;
+ private boolean active = false;
/**
* When the alert was raised.
*/
- private double activeStartTime = 0.0;
+ private double activeStartTime = 0.0;
/**
* Text of the alert.
*/
- private String text;
+ private String text;
/**
* Creates a new Alert in the default group - "Alerts". If this is the first to be instantiated, the appropriate
@@ -213,6 +213,7 @@ public class Alert
/**
* Get alerts based off of type.
+ *
* @param type Type of alert to fetch.
* @return Active alert strings.
*/