Updated to 2024.4.6.1

2026-06-27 07:01:39 +00:00 · 2024-01-22 15:11:18 -06:00
parent 7c76cffc78
commit a20a6b83af
120 changed files with 923 additions and 603 deletions
--- a/docs/swervelib/SwerveDrive.html
+++ b/docs/swervelib/SwerveDrive.html
@@ -1,11 +1,11 @@
 <!DOCTYPE HTML>
 <html lang="en">
 <head>
-<!-- Generated by javadoc (17) on Thu Jan 18 17:54:02 CST 2024 -->
+<!-- Generated by javadoc (17) on Mon Jan 22 15:09:25 CST 2024 -->
 <title>SwerveDrive</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="2024-01-18">
+<meta name="dc.created" content="2024-01-22">
 <meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
 <meta name="generator" content="javadoc/ClassWriterImpl">
 <link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -132,50 +132,40 @@ loadScripts(document, 'script');</script>
 <div class="col-last odd-row-color">
 <div class="block">Swerve IMU device for sensing the heading of the robot.</div>
 </div>
-<div class="col-first even-row-color"><code>boolean</code></div>
-<div class="col-second even-row-color"><code><a href="#invertOdometry" class="member-name-link">invertOdometry</a></code></div>
+<div class="col-first even-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
+<div class="col-second even-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
 <div class="col-last even-row-color">
-<div class="block">Invert odometry readings of drive motor positions, used as a patch for debugging currently.</div>
-</div>
-<div class="col-first odd-row-color"><code>final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
-<div class="col-second odd-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
-<div class="col-last odd-row-color">
 <div class="block">Swerve Kinematics object.</div>
 </div>
-<div class="col-first even-row-color"><code>private double</code></div>
-<div class="col-second even-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
-<div class="col-last even-row-color">
+<div class="col-first odd-row-color"><code>private double</code></div>
+<div class="col-second odd-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
+<div class="col-last odd-row-color">
 <div class="block">The last heading set in radians.</div>
 </div>
-<div class="col-first odd-row-color"><code>private double</code></div>
-<div class="col-second odd-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
-<div class="col-last odd-row-color">
+<div class="col-first even-row-color"><code>private double</code></div>
+<div class="col-second even-row-color"><code><a href="#maxSpeedMPS" class="member-name-link">maxSpeedMPS</a></code></div>
+<div class="col-last even-row-color">
 <div class="block">Maximum speed of the robot in meters per second.</div>
 </div>
-<div class="col-first even-row-color"><code>private int</code></div>
-<div class="col-second even-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
-<div class="col-last even-row-color">
+<div class="col-first odd-row-color"><code>private int</code></div>
+<div class="col-second odd-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
+<div class="col-last odd-row-color">
 <div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
 </div>
-<div class="col-first odd-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title="class or interface in java.util.concurrent.locks" class="external-link">Lock</a></code></div>
-<div class="col-second odd-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
-<div class="col-last odd-row-color">
+<div class="col-first even-row-color"><code>private final <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/concurrent/locks/Lock.html" title="class or interface in java.util.concurrent.locks" class="external-link">Lock</a></code></div>
+<div class="col-second even-row-color"><code><a href="#odometryLock" class="member-name-link">odometryLock</a></code></div>
+<div class="col-last even-row-color">
 <div class="block">Odometry lock to ensure thread safety.</div>
 </div>
-<div class="col-first even-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
-<div class="col-second even-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
-<div class="col-last even-row-color">
+<div class="col-first odd-row-color"><code>private final edu.wpi.first.wpilibj.Notifier</code></div>
+<div class="col-second odd-row-color"><code><a href="#odometryThread" class="member-name-link">odometryThread</a></code></div>
+<div class="col-last odd-row-color">
 <div class="block">WPILib <code>Notifier</code> to keep odometry up to date.</div>
 </div>
-<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
-<div class="col-second odd-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
-<div class="col-last odd-row-color">
-<div class="block">Simulation of the swerve drive.</div>
-</div>
-<div class="col-first even-row-color"><code>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
-<div class="col-second even-row-color"><code><a href="#stateStdDevs" class="member-name-link">stateStdDevs</a></code></div>
+<div class="col-first even-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
+<div class="col-second even-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
 <div class="col-last even-row-color">
-<div class="block">Standard deviation of encoders and gyroscopes, usually should not change.</div>
+<div class="block">Simulation of the swerve drive.</div>
 </div>
 <div class="col-first odd-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
 <div class="col-second odd-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
@@ -202,13 +192,6 @@ loadScripts(document, 'script');</script>
 <div class="col-last odd-row-color">
 <div class="block">Alert to recommend Tuner X if the configuration is compatible.</div>
 </div>
-<div class="col-first even-row-color"><code>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
-<div class="col-second even-row-color"><code><a href="#visionMeasurementStdDevs" class="member-name-link">visionMeasurementStdDevs</a></code></div>
-<div class="col-last even-row-color">
-<div class="block">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 <a href="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)"><code>addVisionMeasurement(Pose2d, double, Matrix)</code></a>
- with the calculated optimal standard deviation.</div>
-</div>
 </div>
 </section>
 </li>
@@ -344,182 +327,187 @@ loadScripts(document, 'script');</script>
 <div class="block">Get the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>s associated with the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a>.</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getOdometryHeading()" class="member-name-link">getOdometryHeading</a>()</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current pitch angle of the robot, as reported by the imu.</div>
-</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
-</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
+<div class="block">Fetch the latest odometry heading, should be trusted over <a href="#getYaw()"><code>getYaw()</code></a>.</div>
 </div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Gets the current pitch angle of the robot, as reported by the imu.</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
+</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
+</div>
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current module states (azimuth and velocity)</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveController()" class="member-name-link">getSwerveController</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveController()" class="member-name-link">getSwerveController</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Helper function to get the <a href="#swerveController"><code>swerveController</code></a> for the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> which can be used to
 generate <code>ChassisSpeeds</code> for the robot to orient it correctly given axis or angles, and apply
 <code>SlewRateLimiter</code> to given inputs.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Get the swerve module poses and on the field relative to the robot.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Post the trajectory to the field</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#pushOffsetsToControllers()" class="member-name-link">pushOffsetsToControllers</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#pushOffsetsToControllers()" class="member-name-link">pushOffsetsToControllers</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Setup the swerve module feedforward.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetDriveEncoders()" class="member-name-link">resetDriveEncoders</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetDriveEncoders()" class="member-name-link">resetDriveEncoders</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in
 autonomous.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Resets odometry to the given pose.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#restoreInternalOffset()" class="member-name-link">restoreInternalOffset</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#restoreInternalOffset()" class="member-name-link">restoreInternalOffset</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngleMotorConversionFactor(double)" class="member-name-link">setAngleMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAngleMotorConversionFactor(double)" class="member-name-link">setAngleMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the conversion factor for the angle/azimuth motor controller.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set chassis speeds with closed-loop velocity control.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDriveMotorConversionFactor(double)" class="member-name-link">setDriveMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDriveMotorConversionFactor(double)" class="member-name-link">setDriveMotorConversionFactor</a><wbr>(double&nbsp;conversionFactor)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the conversion factor for the drive motor controller.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyro(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyro</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;gyro)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyro(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyro</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;gyro)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the expected gyroscope angle using a <code>Rotation3d</code> object.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyroOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyroOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the gyro scope offset to a desired known rotation.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setHeadingCorrection(boolean)" class="member-name-link">setHeadingCorrection</a><wbr>(boolean&nbsp;state)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
-<div class="block">Set the heading correction capabilities of YAGSL.</div>
-</div>
 <div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setHeadingCorrection(boolean,double)" class="member-name-link">setHeadingCorrection</a><wbr>(boolean&nbsp;state,
- double&nbsp;deadband)</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setHeadingCorrection(boolean)" class="member-name-link">setHeadingCorrection</a><wbr>(boolean&nbsp;state)</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the heading correction capabilities of YAGSL.</div>
 </div>
 <div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double)" class="member-name-link">setMaximumSpeed</a><wbr>(double&nbsp;maximumSpeed)</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setHeadingCorrection(boolean,double)" class="member-name-link">setHeadingCorrection</a><wbr>(boolean&nbsp;state,
+ double&nbsp;deadband)</code></div>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="block">Set the heading correction capabilities of YAGSL.</div>
+</div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double)" class="member-name-link">setMaximumSpeed</a><wbr>(double&nbsp;maximumSpeed)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the maximum speed of the drive motors, modified <a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> which is used for the
 <a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
 <a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double,boolean,double)" class="member-name-link">setMaximumSpeed</a><wbr>(double&nbsp;maximumSpeed,
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double,boolean,double)" class="member-name-link">setMaximumSpeed</a><wbr>(double&nbsp;maximumSpeed,
 boolean&nbsp;updateModuleFeedforward,
 double&nbsp;optimalVoltage)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the maximum speed of the drive motors, modified <a href="#maxSpeedMPS"><code>maxSpeedMPS</code></a> which is used for the
 <a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState[], boolean)</code></a> function and
 <a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeeds(double,double,double)" class="member-name-link">setMaximumSpeeds</a><wbr>(double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeeds(double,double,double)" class="member-name-link">setMaximumSpeeds</a><wbr>(double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
 double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
 double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the maximum speeds for desaturation.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
 boolean&nbsp;isOpenLoop)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the module states (azimuth and velocity) directly.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorIdleMode(boolean)" class="member-name-link">setMotorIdleMode</a><wbr>(boolean&nbsp;brake)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorIdleMode(boolean)" class="member-name-link">setMotorIdleMode</a><wbr>(boolean&nbsp;brake)</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Sets the drive motors to brake/coast mode.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setOdometryPeriod(double)" class="member-name-link">setOdometryPeriod</a><wbr>(double&nbsp;period)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setOdometryPeriod(double)" class="member-name-link">setOdometryPeriod</a><wbr>(double&nbsp;period)</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the odometry update period in seconds.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setRawModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setRawModuleStates(edu.wpi.first.math.kinematics.SwerveModuleState%5B%5D,boolean)" class="member-name-link">setRawModuleStates</a><wbr>(edu.wpi.first.math.kinematics.SwerveModuleState[]&nbsp;desiredStates,
 boolean&nbsp;isOpenLoop)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Set the module states (azimuth and velocity) directly.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#stopOdometryThread()" class="member-name-link">stopOdometryThread</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#stopOdometryThread()" class="member-name-link">stopOdometryThread</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Stop the odometry thread in favor of manually updating odometry.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Synchronize angle motor integrated encoders with data from absolute encoders.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry()" class="member-name-link">updateOdometry</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry()" class="member-name-link">updateOdometry</a>()</code></div>
+<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Update odometry should be run every loop.</div>
 </div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#zeroGyro()" class="member-name-link">zeroGyro</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
+<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#zeroGyro()" class="member-name-link">zeroGyro</a>()</code></div>
+<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
 </div>
 </div>
@@ -582,10 +570,10 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
-<section class="detail" id="HEADING_CORRECTION_DEADBAND">
-<h3>HEADING_CORRECTION_DEADBAND</h3>
-<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">HEADING_CORRECTION_DEADBAND</span></div>
-<div class="block">Deadband for speeds in heading correction.</div>
+<section class="detail" id="tunerXRecommendation">
+<h3>tunerXRecommendation</h3>
+<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type"><a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></span>&nbsp;<span class="element-name">tunerXRecommendation</span></div>
+<div class="block">Alert to recommend Tuner X if the configuration is compatible.</div>
 </section>
 </li>
 <li>
@@ -603,31 +591,6 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
-<section class="detail" id="stateStdDevs">
-<h3>stateStdDevs</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</span>&nbsp;<span class="element-name">stateStdDevs</span></div>
-<div class="block">Standard deviation of encoders and gyroscopes, usually should not change. (meters of position and degrees of
- rotation)</div>
-</section>
-</li>
-<li>
-<section class="detail" id="visionMeasurementStdDevs">
-<h3>visionMeasurementStdDevs</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</span>&nbsp;<span class="element-name">visionMeasurementStdDevs</span></div>
-<div class="block">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 <a href="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)"><code>addVisionMeasurement(Pose2d, double, Matrix)</code></a>
- 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.</div>
-</section>
-</li>
-<li>
-<section class="detail" id="invertOdometry">
-<h3>invertOdometry</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertOdometry</span></div>
-<div class="block">Invert odometry readings of drive motor positions, used as a patch for debugging currently.</div>
-</section>
-</li>
-<li>
 <section class="detail" id="chassisVelocityCorrection">
 <h3>chassisVelocityCorrection</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">chassisVelocityCorrection</span></div>
@@ -643,6 +606,13 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
+<section class="detail" id="HEADING_CORRECTION_DEADBAND">
+<h3>HEADING_CORRECTION_DEADBAND</h3>
+<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">HEADING_CORRECTION_DEADBAND</span></div>
+<div class="block">Deadband for speeds in heading correction.</div>
+</section>
+</li>
+<li>
 <section class="detail" id="correctionEnabled">
 <h3>correctionEnabled</h3>
 <div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">correctionEnabled</span></div>
@@ -698,13 +668,6 @@ loadScripts(document, 'script');</script>
 <div class="block">Maximum speed of the robot in meters per second.</div>
 </section>
 </li>
-<li>
-<section class="detail" id="tunerXRecommendation">
-<h3>tunerXRecommendation</h3>
-<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type"><a href="telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></span>&nbsp;<span class="element-name">tunerXRecommendation</span></div>
-<div class="block">Alert to recommend Tuner X if the configuration is compatible.</div>
-</section>
-</li>
 </ul>
 </section>
 </li>
@@ -792,6 +755,17 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
+<section class="detail" id="getOdometryHeading()">
+<h3>getOdometryHeading</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">getOdometryHeading</span>()</div>
+<div class="block">Fetch the latest odometry heading, should be trusted over <a href="#getYaw()"><code>getYaw()</code></a>.</div>
+<dl class="notes">
+<dt>Returns:</dt>
+<dd><code>Rotation2d</code> of the robot heading.</dd>
+</dl>
+</section>
+</li>
+<li>
 <section class="detail" id="setHeadingCorrection(boolean)">
 <h3>setHeadingCorrection</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setHeadingCorrection</span><wbr><span class="parameters">(boolean&nbsp;state)</span></div>
@@ -1083,8 +1057,7 @@ loadScripts(document, 'script');</script>
 <section class="detail" id="getModulePositions()">
 <h3>getModulePositions</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModulePosition[]</span>&nbsp;<span class="element-name">getModulePositions</span>()</div>
-<div class="block">Gets the current module positions (azimuth and wheel position (meters)). Inverts the distance from each module if
- <a href="#invertOdometry"><code>invertOdometry</code></a> is true.</div>
+<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
 <dl class="notes">
 <dt>Returns:</dt>
 <dd>A list of SwerveModulePositions containg the current module positions</dd>
@@ -1260,23 +1233,6 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
-<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)">
-<h3>addVisionMeasurement</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
- double&nbsp;timestamp)</span></div>
-<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
- the given timestamp of the vision measurement. <br/> <b>IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET
- AFTER USING THIS FUNCTION!</b> <br/> To update your gyroscope readings directly use
- <a href="#setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)"><code>setGyroOffset(Rotation3d)</code></a>.</div>
-<dl class="notes">
-<dt>Parameters:</dt>
-<dd><code>robotPose</code> - Robot <code>Pose2d</code> as measured by vision.</dd>
-<dd><code>timestamp</code> - Timestamp the measurement was taken as time since startup, should be taken from
-                  <code>Timer.getFPGATimestamp()</code> or similar sources.</dd>
-</dl>
-</section>
-</li>
-<li>
 <section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)">
 <h3>addVisionMeasurement</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
@@ -1299,6 +1255,23 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
+<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)">
+<h3>addVisionMeasurement</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
+ double&nbsp;timestamp)</span></div>
+<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
+ the given timestamp of the vision measurement. <br/> <b>IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET
+ AFTER USING THIS FUNCTION!</b> <br/> To update your gyroscope readings directly use
+ <a href="#setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)"><code>setGyroOffset(Rotation3d)</code></a>.</div>
+<dl class="notes">
+<dt>Parameters:</dt>
+<dd><code>robotPose</code> - Robot <code>Pose2d</code> as measured by vision.</dd>
+<dd><code>timestamp</code> - Timestamp the measurement was taken as time since startup, should be taken from
+                  <code>Timer.getFPGATimestamp()</code> or similar sources.</dd>
+</dl>
+</section>
+</li>
+<li>
 <section class="detail" id="setGyro(edu.wpi.first.math.geometry.Rotation3d)">
 <h3>setGyro</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setGyro</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d&nbsp;gyro)</span></div>