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thenetworkgrinch
2024-01-22 15:11:18 -06:00
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<!-- Generated by javadoc (17) on Thu Jan 18 17:54:02 CST 2024 -->
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<!-- Generated by javadoc (17) on Mon Jan 22 15:09:25 CST 2024 -->
<title>S-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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@@ -221,6 +221,38 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the heading correction capabilities of YAGSL.</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16448Swerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADIS16448Swerve.html" title="class in swervelib.imu">ADIS16448Swerve</a></dt>
<dd>
<div class="block">Set the gyro to invert its default direction</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16470Swerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADIS16470Swerve.html" title="class in swervelib.imu">ADIS16470Swerve</a></dt>
<dd>
<div class="block">Set the gyro to invert its default direction</div>
</dd>
<dt><a href="../swervelib/imu/ADXRS450Swerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/ADXRS450Swerve.html" title="class in swervelib.imu">ADXRS450Swerve</a></dt>
<dd>
<div class="block">Set the gyro to invert its default direction</div>
</dd>
<dt><a href="../swervelib/imu/AnalogGyroSwerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/AnalogGyroSwerve.html" title="class in swervelib.imu">AnalogGyroSwerve</a></dt>
<dd>
<div class="block">Set the gyro to invert its default direction</div>
</dd>
<dt><a href="../swervelib/imu/NavXSwerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
<dd>
<div class="block">Set the gyro to invert its default direction</div>
</dd>
<dt><a href="../swervelib/imu/Pigeon2Swerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></dt>
<dd>
<div class="block">Set the gyro to invert its default direction</div>
</dd>
<dt><a href="../swervelib/imu/PigeonSwerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></dt>
<dd>
<div class="block">Set the gyro to invert its default direction</div>
</dd>
<dt><a href="../swervelib/imu/SwerveIMU.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.imu.<a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></dt>
<dd>
<div class="block">Set the gyro to invert its default direction.</div>
</dd>
<dt><a href="../swervelib/motors/SparkFlexSwerve.html#setInverted(boolean)" class="member-name-link">setInverted(boolean)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkFlexSwerve.html" title="class in swervelib.motors">SparkFlexSwerve</a></dt>
<dd>
<div class="block">Set the motor to be inverted.</div>
@@ -558,10 +590,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Current simulated swerve module state.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#stateStdDevs" class="member-name-link">stateStdDevs</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Standard deviation of encoders and gyroscopes, usually should not change.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#stopOdometryThread()" class="member-name-link">stopOdometryThread()</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Stop the odometry thread in favor of manually updating odometry.</div>

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@@ -105,12 +105,6 @@ the order they are declared.</div>
<dd>
<div class="block">The current telemetry verbosity level.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#visionMeasurementStdDevs" class="member-name-link">visionMeasurementStdDevs</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<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="../swervelib/SwerveDrive.html#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)"><code>SwerveDrive.addVisionMeasurement(Pose2d, double, Matrix)</code></a>
with the calculated optimal standard deviation.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
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<!-- Generated by javadoc (17) on Mon Jan 22 15:09:25 CST 2024 -->
<title>D-Index</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="index: D">
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<title>E-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2024-01-18">
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<title>F-Index</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">
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<title>G-Index</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="index: G">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -271,6 +271,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Get the motor object from the module.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#getOdometryHeading()" class="member-name-link">getOdometryHeading()</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Fetch the latest odometry heading, should be trusted over <a href="../swervelib/SwerveDrive.html#getYaw()"><code>SwerveDrive.getYaw()</code></a>.</div>
</dd>
<dt><a href="../swervelib/simulation/SwerveIMUSimulation.html#getPitch()" class="member-name-link">getPitch()</a> - Method in class swervelib.simulation.<a href="../swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></dt>
<dd>
<div class="block">Pitch is not simulated currently, always returns 0.</div>

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<title>H-Index</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">
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<meta name="description" content="index: H">
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<title>I-Index</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="index: I">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -119,18 +119,38 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Defines which motors are inverted.</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16448Swerve.html#invertedIMU" class="member-name-link">invertedIMU</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/ADIS16448Swerve.html" title="class in swervelib.imu">ADIS16448Swerve</a></dt>
<dd>
<div class="block">Inversion for the gyro</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16470Swerve.html#invertedIMU" class="member-name-link">invertedIMU</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/ADIS16470Swerve.html" title="class in swervelib.imu">ADIS16470Swerve</a></dt>
<dd>
<div class="block">Inversion for the gyro</div>
</dd>
<dt><a href="../swervelib/imu/ADXRS450Swerve.html#invertedIMU" class="member-name-link">invertedIMU</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/ADXRS450Swerve.html" title="class in swervelib.imu">ADXRS450Swerve</a></dt>
<dd>
<div class="block">Inversion for the gyro</div>
</dd>
<dt><a href="../swervelib/imu/AnalogGyroSwerve.html#invertedIMU" class="member-name-link">invertedIMU</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/AnalogGyroSwerve.html" title="class in swervelib.imu">AnalogGyroSwerve</a></dt>
<dd>
<div class="block">Inversion for the gyro</div>
</dd>
<dt><a href="../swervelib/imu/NavXSwerve.html#invertedIMU" class="member-name-link">invertedIMU</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></dt>
<dd>
<div class="block">Inversion for the gyro</div>
</dd>
<dt><a href="../swervelib/imu/Pigeon2Swerve.html#invertedIMU" class="member-name-link">invertedIMU</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></dt>
<dd>
<div class="block">Inversion for the gyro</div>
</dd>
<dt><a href="../swervelib/imu/PigeonSwerve.html#invertedIMU" class="member-name-link">invertedIMU</a> - Variable in class swervelib.imu.<a href="../swervelib/imu/PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></dt>
<dd>
<div class="block">Inversion for the gyro</div>
</dd>
<dt><a href="../swervelib/parser/json/SwerveDriveJson.html#invertedIMU" class="member-name-link">invertedIMU</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></dt>
<dd>
<div class="block">Invert the IMU of the robot.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveDriveConfiguration.html#invertedIMU" class="member-name-link">invertedIMU</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></dt>
<dd>
<div class="block">Invert the imu measurements.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#invertOdometry" class="member-name-link">invertOdometry</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Invert odometry readings of drive motor positions, used as a patch for debugging currently.</div>
</dd>
<dt><a href="../swervelib/motors/SparkFlexSwerve.html#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder()</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkFlexSwerve.html" title="class in swervelib.motors">SparkFlexSwerve</a></dt>
<dd>
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>

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<title>Overview</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">
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<title>Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>SwerveController</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: SwerveController">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<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>

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<!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>SwerveModule</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: SwerveModule">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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<!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>AnalogAbsoluteEncoderSwerve</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.encoders, class: AnalogAbsoluteEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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@@ -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>CANCoderSwerve</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.encoders, class: CANCoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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@@ -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>CanAndCoderSwerve</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.encoders, class: CanAndCoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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@@ -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>PWMDutyCycleEncoderSwerve</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.encoders, class: PWMDutyCycleEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
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@@ -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>SparkMaxAnalogEncoderSwerve</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.encoders, class: SparkMaxAnalogEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!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>SparkMaxEncoderSwerve</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.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/encoders/SwerveAbsoluteEncoder.html
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@@ -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>SwerveAbsoluteEncoder</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.encoders, class: SwerveAbsoluteEncoder">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/encoders/package-summary.html
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@@ -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>swervelib.encoders</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.encoders">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/encoders/package-tree.html
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@@ -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>swervelib.encoders Class Hierarchy</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="tree: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

40
docs/swervelib/imu/ADIS16448Swerve.html
View File

@@ -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>ADIS16448Swerve</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.imu, class: ADIS16448Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,9 +98,14 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block"><code>ADIS16448_IMU</code> device to read the current headings from.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Inversion for the gyro</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Offset for the ADIS16448.</div>
</div>
</div>
@@ -163,8 +168,13 @@ loadScripts(document, 'script');</script>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;invertIMU)</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 gyro to invert its default direction</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</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 offset.</div>
</div>
</div>
@@ -198,6 +208,13 @@ loadScripts(document, 'script');</script>
<div class="block">Offset for the ADIS16448.</div>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Inversion for the gyro</div>
</section>
</li>
</ul>
</section>
</li>
@@ -257,6 +274,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setInverted(boolean)">
<h3>setInverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setInverted</span><wbr><span class="parameters">(boolean&nbsp;invertIMU)</span></div>
<div class="block">Set the gyro to invert its default direction</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>invertIMU</code> - invert gyro direction</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>

40
docs/swervelib/imu/ADIS16470Swerve.html
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@@ -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>ADIS16470Swerve</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.imu, class: ADIS16470Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,9 +98,14 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block"><code>ADIS16470_IMU</code> device to read the current headings from.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Inversion for the gyro</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Offset for the ADIS16470.</div>
</div>
</div>
@@ -163,8 +168,13 @@ loadScripts(document, 'script');</script>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;invertIMU)</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 gyro to invert its default direction</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</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 offset.</div>
</div>
</div>
@@ -198,6 +208,13 @@ loadScripts(document, 'script');</script>
<div class="block">Offset for the ADIS16470.</div>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Inversion for the gyro</div>
</section>
</li>
</ul>
</section>
</li>
@@ -257,6 +274,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setInverted(boolean)">
<h3>setInverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setInverted</span><wbr><span class="parameters">(boolean&nbsp;invertIMU)</span></div>
<div class="block">Set the gyro to invert its default direction</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>invertIMU</code> - invert gyro direction</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>

40
docs/swervelib/imu/ADXRS450Swerve.html
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@@ -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>ADXRS450Swerve</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.imu, class: ADXRS450Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,9 +98,14 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block"><code>ADXRS450_Gyro</code> device to read the current headings from.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Inversion for the gyro</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Offset for the ADXRS450.</div>
</div>
</div>
@@ -163,8 +168,13 @@ loadScripts(document, 'script');</script>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;invertIMU)</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 gyro to invert its default direction</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</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 offset.</div>
</div>
</div>
@@ -198,6 +208,13 @@ loadScripts(document, 'script');</script>
<div class="block">Offset for the ADXRS450.</div>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Inversion for the gyro</div>
</section>
</li>
</ul>
</section>
</li>
@@ -257,6 +274,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setInverted(boolean)">
<h3>setInverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setInverted</span><wbr><span class="parameters">(boolean&nbsp;invertIMU)</span></div>
<div class="block">Set the gyro to invert its default direction</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>invertIMU</code> - invert gyro direction</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>

40
docs/swervelib/imu/AnalogGyroSwerve.html
View File

@@ -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>AnalogGyroSwerve</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.imu, class: AnalogGyroSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,9 +98,14 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Gyroscope object.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Inversion for the gyro</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Offset for the analog gyro.</div>
</div>
</div>
@@ -163,8 +168,13 @@ loadScripts(document, 'script');</script>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;invertIMU)</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 gyro to invert its default direction</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</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 offset.</div>
</div>
</div>
@@ -198,6 +208,13 @@ loadScripts(document, 'script');</script>
<div class="block">Offset for the analog gyro.</div>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Inversion for the gyro</div>
</section>
</li>
</ul>
</section>
</li>
@@ -261,6 +278,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setInverted(boolean)">
<h3>setInverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setInverted</span><wbr><span class="parameters">(boolean&nbsp;invertIMU)</span></div>
<div class="block">Set the gyro to invert its default direction</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>invertIMU</code> - invert gyro direction</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>

46
docs/swervelib/imu/NavXSwerve.html
View File

@@ -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>NavXSwerve</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.imu, class: NavXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,14 +98,19 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">NavX IMU.</div>
</div>
<div class="col-first odd-row-color"><code>private <a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second odd-row-color"><code><a href="#navXError" class="member-name-link">navXError</a></code></div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Inversion for the gyro</div>
</div>
<div class="col-first even-row-color"><code>private <a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></code></div>
<div class="col-second even-row-color"><code><a href="#navXError" class="member-name-link">navXError</a></code></div>
<div class="col-last even-row-color">
<div class="block">An <a href="../telemetry/Alert.html" title="class in swervelib.telemetry"><code>Alert</code></a> for if there is an error instantiating the NavX.</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Offset for the NavX.</div>
</div>
</div>
@@ -176,8 +181,13 @@ loadScripts(document, 'script');</script>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;invertIMU)</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 gyro to invert its default direction</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</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 offset.</div>
</div>
</div>
@@ -212,6 +222,13 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Inversion for the gyro</div>
</section>
</li>
<li>
<section class="detail" id="navXError">
<h3>navXError</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type"><a href="../telemetry/Alert.html" title="class in swervelib.telemetry">Alert</a></span>&nbsp;<span class="element-name">navXError</span></div>
@@ -303,6 +320,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setInverted(boolean)">
<h3>setInverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setInverted</span><wbr><span class="parameters">(boolean&nbsp;invertIMU)</span></div>
<div class="block">Set the gyro to invert its default direction</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>invertIMU</code> - invert gyro direction</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>

40
docs/swervelib/imu/Pigeon2Swerve.html
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@@ -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>Pigeon2Swerve</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.imu, class: Pigeon2Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,9 +98,14 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Pigeon2 IMU device.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Inversion for the gyro</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Offset for the Pigeon 2.</div>
</div>
</div>
@@ -168,8 +173,13 @@ loadScripts(document, 'script');</script>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;invertIMU)</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 gyro to invert its default direction</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</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 offset.</div>
</div>
</div>
@@ -203,6 +213,13 @@ loadScripts(document, 'script');</script>
<div class="block">Offset for the Pigeon 2.</div>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Inversion for the gyro</div>
</section>
</li>
</ul>
</section>
</li>
@@ -279,6 +296,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setInverted(boolean)">
<h3>setInverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setInverted</span><wbr><span class="parameters">(boolean&nbsp;invertIMU)</span></div>
<div class="block">Set the gyro to invert its default direction</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>invertIMU</code> - invert gyro direction</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>

40
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@@ -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>PigeonSwerve</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.imu, class: PigeonSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -98,9 +98,14 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Pigeon v1 IMU device.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Inversion for the gyro</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Offset for the Pigeon.</div>
</div>
</div>
@@ -163,8 +168,13 @@ loadScripts(document, 'script');</script>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;invertIMU)</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 gyro to invert its default direction</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="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</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 offset.</div>
</div>
</div>
@@ -198,6 +208,13 @@ loadScripts(document, 'script');</script>
<div class="block">Offset for the Pigeon.</div>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Inversion for the gyro</div>
</section>
</li>
</ul>
</section>
</li>
@@ -261,6 +278,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setInverted(boolean)">
<h3>setInverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setInverted</span><wbr><span class="parameters">(boolean&nbsp;invertIMU)</span></div>
<div class="block">Set the gyro to invert its default direction</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>invertIMU</code> - invert gyro direction</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>

22
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@@ -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>SwerveIMU</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.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -141,8 +141,13 @@ loadScripts(document, 'script');</script>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;invertIMU)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3">
<div class="block">Set the gyro to invert its default direction.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code>abstract void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab3"><code><a href="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</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-tab3">
<div class="block">Set the gyro offset.</div>
</div>
</div>
@@ -202,6 +207,17 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setInverted(boolean)">
<h3>setInverted</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setInverted</span><wbr><span class="parameters">(boolean&nbsp;invertIMU)</span></div>
<div class="block">Set the gyro to invert its default direction.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>invertIMU</code> - gyro direction</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public abstract</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>

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@@ -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>swervelib.imu</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.imu">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<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>swervelib.imu Class Hierarchy</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="tree: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<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>Matter</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.math, class: Matter">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<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>SwerveMath</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.math, class: SwerveMath">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!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>swervelib.math</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.math">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!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>swervelib.math Class Hierarchy</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="tree: package: swervelib.math">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2024-01-18">
<meta name="dc.created" content="2024-01-22">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkFlexSwerve, enum: SparkMAX_slotIdx">
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<title>SparkFlexSwerve</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.motors, class: SparkFlexSwerve">
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<title>SparkMaxBrushedMotorSwerve</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">
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<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxBrushedMotorSwerve">
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<title>SparkMaxSwerve.SparkMAX_slotIdx</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.motors, class: SparkMaxSwerve, enum: SparkMAX_slotIdx">
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<title>SparkMaxSwerve</title>
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<meta name="dc.created" content="2024-01-18">
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<title>SwerveMotor</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.motors, class: SwerveMotor">
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<title>TalonFXSwerve</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.motors, class: TalonFXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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@@ -359,13 +359,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="conversionFactor">
<h3>conversionFactor</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">conversionFactor</span></div>
<div class="block">Conversion factor for the motor.</div>
</section>
</li>
<li>
<section class="detail" id="motor">
<h3>motor</h3>
<div class="member-signature"><span class="return-type">com.ctre.phoenix6.hardware.TalonFX</span>&nbsp;<span class="element-name">motor</span></div>
@@ -373,6 +366,13 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="conversionFactor">
<h3>conversionFactor</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">conversionFactor</span></div>
<div class="block">Conversion factor for the motor.</div>
</section>
</li>
<li>
<section class="detail" id="configuration">
<h3>configuration</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">com.ctre.phoenix6.configs.TalonFXConfiguration</span>&nbsp;<span class="element-name">configuration</span></div>

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<title>swervelib.motors</title>
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<meta name="dc.created" content="2024-01-18">
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<title>swervelib</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2024-01-18">
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<meta name="dc.created" content="2024-01-18">
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<title>SwerveControllerConfiguration</title>
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<meta name="dc.created" content="2024-01-18">
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<title>SwerveDriveConfiguration</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.parser, class: SwerveDriveConfiguration">
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@@ -96,29 +96,24 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Swerve IMU</div>
</div>
<div class="col-first odd-row-color"><code>boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-first odd-row-color"><code>int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleCount" class="member-name-link">moduleCount</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Invert the imu measurements.</div>
</div>
<div class="col-first even-row-color"><code>int</code></div>
<div class="col-second even-row-color"><code><a href="#moduleCount" class="member-name-link">moduleCount</a></code></div>
<div class="col-last even-row-color">
<div class="block">Number of modules on the robot.</div>
</div>
<div class="col-first odd-row-color"><code>edu.wpi.first.math.geometry.Translation2d[]</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleLocationsMeters" class="member-name-link">moduleLocationsMeters</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>edu.wpi.first.math.geometry.Translation2d[]</code></div>
<div class="col-second even-row-color"><code><a href="#moduleLocationsMeters" class="member-name-link">moduleLocationsMeters</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve Module locations.</div>
</div>
<div class="col-first even-row-color"><code><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second even-row-color"><code><a href="#modules" class="member-name-link">modules</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#modules" class="member-name-link">modules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve Modules.</div>
</div>
<div class="col-first odd-row-color"><code><a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></div>
<div class="col-second odd-row-color"><code><a href="#physicalCharacteristics" class="member-name-link">physicalCharacteristics</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></div>
<div class="col-second even-row-color"><code><a href="#physicalCharacteristics" class="member-name-link">physicalCharacteristics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Physical characteristics of the swerve drive from physicalproperties.json.</div>
</div>
</div>
@@ -197,13 +192,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Invert the imu measurements.</div>
</section>
</li>
<li>
<section class="detail" id="moduleCount">
<h3>moduleCount</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">moduleCount</span></div>

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<meta name="dc.created" content="2024-01-18">
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<meta name="dc.created" content="2024-01-18">
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<meta name="dc.created" content="2024-01-18">
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<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">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2024-01-18">
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<meta name="dc.created" content="2024-01-18">
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