+
+
SwerveIMU interface for the Pigeon.
-
-
+
+
Swerve IMU abstraction to define a standard interface with a swerve drive.
diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html
index b5ef9c3..dca8351 100644
--- a/docs/swervelib/imu/package-tree.html
+++ b/docs/swervelib/imu/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.imu Class Hierarchy
-
+
@@ -66,6 +66,7 @@ loadScripts(document, 'script');
swervelib.imu.ADIS16470Swerve
swervelib.imu.ADXRS450Swerve
swervelib.imu.AnalogGyroSwerve
+
swervelib.imu.CanandgyroSwerve
swervelib.imu.NavXSwerve
swervelib.imu.Pigeon2Swerve
swervelib.imu.PigeonSwerve
diff --git a/docs/swervelib/math/IMULinearMovingAverageFilter.html b/docs/swervelib/math/IMULinearMovingAverageFilter.html
index 519d382..e31343e 100644
--- a/docs/swervelib/math/IMULinearMovingAverageFilter.html
+++ b/docs/swervelib/math/IMULinearMovingAverageFilter.html
@@ -1,11 +1,11 @@
-
+
IMULinearMovingAverageFilter
-
+
diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html
index 16fed99..ebb3632 100644
--- a/docs/swervelib/math/Matter.html
+++ b/docs/swervelib/math/Matter.html
@@ -1,11 +1,11 @@
-
+
Matter
-
+
diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html
index a6897c1..cdec06b 100644
--- a/docs/swervelib/math/SwerveMath.html
+++ b/docs/swervelib/math/SwerveMath.html
@@ -1,11 +1,11 @@
-
+
SwerveMath
-
+
diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html
index 54cdb0c..7c5e2aa 100644
--- a/docs/swervelib/math/package-summary.html
+++ b/docs/swervelib/math/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.math
-
+
diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html
index 5f66008..1acad1a 100644
--- a/docs/swervelib/math/package-tree.html
+++ b/docs/swervelib/math/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.math Class Hierarchy
-
+
diff --git a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html
index c256846..c73e0a0 100644
--- a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html
+++ b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html
@@ -1,11 +1,11 @@
-
+
SparkFlexSwerve.SparkMAX_slotIdx
-
+
diff --git a/docs/swervelib/motors/SparkFlexSwerve.html b/docs/swervelib/motors/SparkFlexSwerve.html
index 5399f88..34d3ed0 100644
--- a/docs/swervelib/motors/SparkFlexSwerve.html
+++ b/docs/swervelib/motors/SparkFlexSwerve.html
@@ -1,11 +1,11 @@
-
+
SparkFlexSwerve
-
+
diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
index be8c0fc..7efc642 100644
--- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
+++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
@@ -1,11 +1,11 @@
-
+
SparkMaxBrushedMotorSwerve
-
+
diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
index ad7dc8c..73b431a 100644
--- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
+++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html
@@ -1,11 +1,11 @@
-
+
SparkMaxSwerve.SparkMAX_slotIdx
-
+
diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html
index 591174e..c8fbb36 100644
--- a/docs/swervelib/motors/SparkMaxSwerve.html
+++ b/docs/swervelib/motors/SparkMaxSwerve.html
@@ -1,11 +1,11 @@
-
+
SparkMaxSwerve
-
+
diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html
index afc28ae..010fd99 100644
--- a/docs/swervelib/motors/SwerveMotor.html
+++ b/docs/swervelib/motors/SwerveMotor.html
@@ -1,11 +1,11 @@
-
+
SwerveMotor
-
+
diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html
index e83dc47..653ce8b 100644
--- a/docs/swervelib/motors/TalonFXSwerve.html
+++ b/docs/swervelib/motors/TalonFXSwerve.html
@@ -1,11 +1,11 @@
-
+
TalonFXSwerve
-
+
diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html
index 8f80cdb..084e181 100644
--- a/docs/swervelib/motors/TalonSRXSwerve.html
+++ b/docs/swervelib/motors/TalonSRXSwerve.html
@@ -1,11 +1,11 @@
-
+
TalonSRXSwerve
-
+
diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html
index d53ae47..33b40af 100644
--- a/docs/swervelib/motors/package-summary.html
+++ b/docs/swervelib/motors/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.motors
-
+
diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html
index 347091a..ae01eae 100644
--- a/docs/swervelib/motors/package-tree.html
+++ b/docs/swervelib/motors/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.motors Class Hierarchy
-
+
diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html
index a053e1a..99c10a4 100644
--- a/docs/swervelib/package-summary.html
+++ b/docs/swervelib/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib
-
+
diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html
index f14b80c..c62a102 100644
--- a/docs/swervelib/package-tree.html
+++ b/docs/swervelib/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/Cache.html b/docs/swervelib/parser/Cache.html
index 9a2b34c..027de0d 100644
--- a/docs/swervelib/parser/Cache.html
+++ b/docs/swervelib/parser/Cache.html
@@ -1,11 +1,11 @@
-
+
Cache
-
+
diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html
index ed95cbc..bee5a2f 100644
--- a/docs/swervelib/parser/PIDFConfig.html
+++ b/docs/swervelib/parser/PIDFConfig.html
@@ -1,11 +1,11 @@
-
+
PIDFConfig
-
+
diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html
index b0a1b6b..bbf94c5 100644
--- a/docs/swervelib/parser/SwerveControllerConfiguration.html
+++ b/docs/swervelib/parser/SwerveControllerConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveControllerConfiguration
-
+
diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html
index 1fe89f2..28cfe3c 100644
--- a/docs/swervelib/parser/SwerveDriveConfiguration.html
+++ b/docs/swervelib/parser/SwerveDriveConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveConfiguration
-
+
diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html
index faf6771..53ee227 100644
--- a/docs/swervelib/parser/SwerveModuleConfiguration.html
+++ b/docs/swervelib/parser/SwerveModuleConfiguration.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleConfiguration
-
+
diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
index 4881e30..f28c9a3 100644
--- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
+++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html
@@ -1,11 +1,11 @@
-
+
SwerveModulePhysicalCharacteristics
-
+
diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html
index 85e2e58..b2beb27 100644
--- a/docs/swervelib/parser/SwerveParser.html
+++ b/docs/swervelib/parser/SwerveParser.html
@@ -1,11 +1,11 @@
-
+
SwerveParser
-
+
diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html
index 8cb57f5..d916dc8 100644
--- a/docs/swervelib/parser/deserializer/PIDFRange.html
+++ b/docs/swervelib/parser/deserializer/PIDFRange.html
@@ -1,11 +1,11 @@
-
+
PIDFRange
-
+
diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html
index e0aea80..b90e675 100644
--- a/docs/swervelib/parser/deserializer/package-summary.html
+++ b/docs/swervelib/parser/deserializer/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.deserializer
-
+
diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html
index a5529ea..7517f3b 100644
--- a/docs/swervelib/parser/deserializer/package-tree.html
+++ b/docs/swervelib/parser/deserializer/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.deserializer Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html
index 6e04c9e..c0f0c7c 100644
--- a/docs/swervelib/parser/json/ControllerPropertiesJson.html
+++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html
@@ -1,11 +1,11 @@
-
+
ControllerPropertiesJson
-
+
diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html
index dfdfa3d..b8333a5 100644
--- a/docs/swervelib/parser/json/DeviceJson.html
+++ b/docs/swervelib/parser/json/DeviceJson.html
@@ -1,11 +1,11 @@
-
+
DeviceJson
-
+
diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html
index 16ac8ca..b076045 100644
--- a/docs/swervelib/parser/json/ModuleJson.html
+++ b/docs/swervelib/parser/json/ModuleJson.html
@@ -1,11 +1,11 @@
-
+
ModuleJson
-
+
diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html
index e1ae9a5..9cd853e 100644
--- a/docs/swervelib/parser/json/MotorConfigDouble.html
+++ b/docs/swervelib/parser/json/MotorConfigDouble.html
@@ -1,11 +1,11 @@
-
+
MotorConfigDouble
-
+
diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html
index bf943d8..1c5a462 100644
--- a/docs/swervelib/parser/json/MotorConfigInt.html
+++ b/docs/swervelib/parser/json/MotorConfigInt.html
@@ -1,11 +1,11 @@
-
+
MotorConfigInt
-
+
diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html
index 0054d60..8b98dc2 100644
--- a/docs/swervelib/parser/json/PIDFPropertiesJson.html
+++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html
@@ -1,11 +1,11 @@
-
+
PIDFPropertiesJson
-
+
diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html
index d353dfe..18dbd73 100644
--- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html
+++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html
@@ -1,11 +1,11 @@
-
+
PhysicalPropertiesJson
-
+
diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html
index 2b2b9fd..9e953b9 100644
--- a/docs/swervelib/parser/json/SwerveDriveJson.html
+++ b/docs/swervelib/parser/json/SwerveDriveJson.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveJson
-
+
diff --git a/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html b/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html
index f2ed9f9..c948f10 100644
--- a/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html
+++ b/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html
@@ -1,11 +1,11 @@
-
+
AngleConversionFactorsJson
-
+
diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html
index 7b4fbb1..c07abd2 100644
--- a/docs/swervelib/parser/json/modules/BoolMotorJson.html
+++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html
@@ -1,11 +1,11 @@
-
+
BoolMotorJson
-
+
diff --git a/docs/swervelib/parser/json/modules/ConversionFactorsJson.html b/docs/swervelib/parser/json/modules/ConversionFactorsJson.html
index 8456688..4ccff2c 100644
--- a/docs/swervelib/parser/json/modules/ConversionFactorsJson.html
+++ b/docs/swervelib/parser/json/modules/ConversionFactorsJson.html
@@ -1,11 +1,11 @@
-
+
ConversionFactorsJson
-
+
diff --git a/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html b/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html
index 69fe288..2534d4b 100644
--- a/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html
+++ b/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html
@@ -1,11 +1,11 @@
-
+
DriveConversionFactorsJson
-
+
diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html
index 762b4e7..f07662d 100644
--- a/docs/swervelib/parser/json/modules/LocationJson.html
+++ b/docs/swervelib/parser/json/modules/LocationJson.html
@@ -1,11 +1,11 @@
-
+
LocationJson
-
+
diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html
index 74bfec6..a45892c 100644
--- a/docs/swervelib/parser/json/modules/package-summary.html
+++ b/docs/swervelib/parser/json/modules/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json.modules
-
+
diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html
index c874537..40630ec 100644
--- a/docs/swervelib/parser/json/modules/package-tree.html
+++ b/docs/swervelib/parser/json/modules/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json.modules Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html
index 349f1e5..e39e2be 100644
--- a/docs/swervelib/parser/json/package-summary.html
+++ b/docs/swervelib/parser/json/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json
-
+
diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html
index 6e7f3fa..eaa4113 100644
--- a/docs/swervelib/parser/json/package-tree.html
+++ b/docs/swervelib/parser/json/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json Class Hierarchy
-
+
diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html
index 1c72328..d1194bf 100644
--- a/docs/swervelib/parser/package-summary.html
+++ b/docs/swervelib/parser/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser
-
+
diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html
index a97781e..f3c2c35 100644
--- a/docs/swervelib/parser/package-tree.html
+++ b/docs/swervelib/parser/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser Class Hierarchy
-
+
diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html
index 8d90361..c9a7a73 100644
--- a/docs/swervelib/simulation/SwerveIMUSimulation.html
+++ b/docs/swervelib/simulation/SwerveIMUSimulation.html
@@ -1,11 +1,11 @@
-
+
SwerveIMUSimulation
-
+
diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html
index 53959b6..6e895bc 100644
--- a/docs/swervelib/simulation/SwerveModuleSimulation.html
+++ b/docs/swervelib/simulation/SwerveModuleSimulation.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleSimulation
-
+
diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html
index 7e3e5a0..6dba491 100644
--- a/docs/swervelib/simulation/package-summary.html
+++ b/docs/swervelib/simulation/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation
-
+
diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html
index 5fa3b35..8084942 100644
--- a/docs/swervelib/simulation/package-tree.html
+++ b/docs/swervelib/simulation/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation Class Hierarchy
-
+
diff --git a/docs/swervelib/telemetry/Alert.AlertType.html b/docs/swervelib/telemetry/Alert.AlertType.html
index 67d5ddf..629d94e 100644
--- a/docs/swervelib/telemetry/Alert.AlertType.html
+++ b/docs/swervelib/telemetry/Alert.AlertType.html
@@ -1,11 +1,11 @@
-
+
Alert.AlertType
-
+
diff --git a/docs/swervelib/telemetry/Alert.SendableAlerts.html b/docs/swervelib/telemetry/Alert.SendableAlerts.html
index 032185c..ae095cf 100644
--- a/docs/swervelib/telemetry/Alert.SendableAlerts.html
+++ b/docs/swervelib/telemetry/Alert.SendableAlerts.html
@@ -1,11 +1,11 @@
-
+
Alert.SendableAlerts
-
+
diff --git a/docs/swervelib/telemetry/Alert.html b/docs/swervelib/telemetry/Alert.html
index f83d281..5062e6d 100644
--- a/docs/swervelib/telemetry/Alert.html
+++ b/docs/swervelib/telemetry/Alert.html
@@ -1,11 +1,11 @@
-
+
Alert
-
+
diff --git a/docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html b/docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html
new file mode 100644
index 0000000..9948e99
--- /dev/null
+++ b/docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html
@@ -0,0 +1,275 @@
+
+
+
+
+
SwerveDriveData.SwerveDriveDataStruct
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+JavaScript is disabled on your browser.
+
+
+
+
+
+
+
+
+
+
+All Implemented Interfaces:
+edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+Enclosing class:
+SwerveDriveData
+public static class SwerveDriveData.SwerveDriveDataStruct
+
extends Object
+implements edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+
+
+
+
+Field Summary
+
+
Fields inherited from interface edu.wpi.first.util.struct.Struct
+kSizeBool, kSizeDouble, kSizeFloat, kSizeInt16, kSizeInt32, kSizeInt64, kSizeInt8
+
+
+
+
+
+Constructor Summary
+Constructors
+
+
+
+
+
+
+Method Summary
+
+
All Methods Instance Methods Concrete Methods
+
+
+
+
+
+
edu.wpi.first.util.struct.Struct<?>[]
+
+
+
+
+
+
int
+
+
+
+
+
+
+
+
+
void
+
+
+
+
+
+
void
+
+
+
+
+
+
Methods inherited from class java.lang.Object
+
clone , equals , finalize , getClass , hashCode , notify , notifyAll , toString , wait , wait , wait
+
+
+
+
+
+
+
+
+Constructor Details
+
+
+
+SwerveDriveDataStruct
+public SwerveDriveDataStruct ()
+
+
+
+
+
+
+
+
+Method Details
+
+
+
+getTypeClass
+
+
+Specified by:
+getTypeClass in interface edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+
+
+
+getTypeString
+
+
+Specified by:
+getTypeString in interface edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+
+
+
+getSize
+public int getSize ()
+
+Specified by:
+getSize in interface edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+
+
+
+getSchema
+
+
+Specified by:
+getSchema in interface edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+
+
+
+getNested
+public edu.wpi.first.util.struct.Struct<?>[] getNested ()
+
+Specified by:
+getNested in interface edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+
+
+
+unpack
+
+
+Specified by:
+unpack in interface edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+
+
+
+pack
+
+
+Specified by:
+pack in interface edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+
+
+
+unpackInto
+
+
+Specified by:
+unpackInto in interface edu.wpi.first.util.struct.Struct<SwerveDriveData >
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/swervelib/telemetry/SwerveDriveData.html b/docs/swervelib/telemetry/SwerveDriveData.html
new file mode 100644
index 0000000..ce1f252
--- /dev/null
+++ b/docs/swervelib/telemetry/SwerveDriveData.html
@@ -0,0 +1,221 @@
+
+
+
+
+
SwerveDriveData
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+JavaScript is disabled on your browser.
+
+
+
+
+
+
+
+
+
+
+All Implemented Interfaces:
+edu.wpi.first.util.struct.StructSerializable, edu.wpi.first.util.WPISerializable
+public class SwerveDriveData
+
extends Object
+implements edu.wpi.first.util.struct.StructSerializable
+
+
+
+
+
+Nested Class Summary
+Nested Classes
+
+
+
+
+
static class
+
+
+
+
+
+
+
+Field Summary
+Fields
+
+
+
+
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
+
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
+
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
+
+
edu.wpi.first.math.geometry.Rotation2d
+
+
+
edu.wpi.first.math.geometry.Rotation2d
+
+
+
+
+
+
+
+
+
+
+Constructor Summary
+Constructors
+
+
+
+
+
+
+Method Summary
+
+
Methods inherited from class java.lang.Object
+
clone , equals , finalize , getClass , hashCode , notify , notifyAll , toString , wait , wait , wait
+
+
+
+
+
+
+
+
+Field Details
+
+
+
+measuredVelocity
+public edu.wpi.first.math.kinematics.ChassisSpeeds measuredVelocity
+
+
+
+
+desiredVelocity
+public edu.wpi.first.math.kinematics.ChassisSpeeds desiredVelocity
+
+
+
+
+maxVelocity
+public edu.wpi.first.math.kinematics.ChassisSpeeds maxVelocity
+
+
+
+
+rawRotation
+public edu.wpi.first.math.geometry.Rotation2d rawRotation
+
+
+
+
+rotation
+public edu.wpi.first.math.geometry.Rotation2d rotation
+
+
+
+
+
+
+
+
+
+
+
+Constructor Details
+
+
+
+SwerveDriveData
+public SwerveDriveData ()
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
index 8e7f788..319cd35 100644
--- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
+++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveTelemetry.TelemetryVerbosity
-
+
diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html
index abb474d..4daf31d 100644
--- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html
+++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveTelemetry
-
+
diff --git a/docs/swervelib/telemetry/SwerveModuleData.html b/docs/swervelib/telemetry/SwerveModuleData.html
new file mode 100644
index 0000000..179fad6
--- /dev/null
+++ b/docs/swervelib/telemetry/SwerveModuleData.html
@@ -0,0 +1,132 @@
+
+
+
+
+
SwerveModuleData
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+JavaScript is disabled on your browser.
+
+
+
+
+
+
+
+
+
+
+All Implemented Interfaces:
+edu.wpi.first.util.struct.StructSerializable, edu.wpi.first.util.WPISerializable
+public class SwerveModuleData
+
extends Object
+implements edu.wpi.first.util.struct.StructSerializable
+
+
+
+
+
+Constructor Summary
+Constructors
+
+
+
+
+
+
+Method Summary
+
+
Methods inherited from class java.lang.Object
+
clone , equals , finalize , getClass , hashCode , notify , notifyAll , toString , wait , wait , wait
+
+
+
+
+
+
+
+
+Constructor Details
+
+
+
+SwerveModuleData
+public SwerveModuleData ()
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html
index cc8b398..8a6ef8a 100644
--- a/docs/swervelib/telemetry/package-summary.html
+++ b/docs/swervelib/telemetry/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.telemetry
-
+
diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html
index 0d15c17..5ed7896 100644
--- a/docs/swervelib/telemetry/package-tree.html
+++ b/docs/swervelib/telemetry/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.telemetry Class Hierarchy
-
+
diff --git a/docs/type-search-index.js b/docs/type-search-index.js
index 1a07770..0a0e4d3 100644
--- a/docs/type-search-index.js
+++ b/docs/type-search-index.js
@@ -1 +1 @@
-typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"p":"swervelib.telemetry","l":"Alert"},{"p":"swervelib.telemetry","l":"Alert.AlertType"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.encoders","l":"AnalogAbsoluteEncoderSwerve"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"AngleConversionFactorsJson"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.parser","l":"Cache"},{"p":"swervelib.encoders","l":"CanAndMagSwerve"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json.modules","l":"ConversionFactorsJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"DriveConversionFactorsJson"},{"p":"swervelib.math","l":"IMULinearMovingAverageFilter"},{"p":"swervelib.imu","l":"IMUVelocity"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.math","l":"Matter"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.encoders","l":"PWMDutyCycleEncoderSwerve"},{"p":"swervelib.telemetry","l":"Alert.SendableAlerts"},{"p":"swervelib.motors","l":"SparkFlexSwerve"},{"p":"swervelib.motors","l":"SparkFlexSwerve.SparkMAX_slotIdx"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxAnalogEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxBrushedMotorSwerve"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry"},{"p":"swervelib","l":"SwerveDriveTest"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry.TelemetryVerbosity"}];updateSearchResults();
\ No newline at end of file
+typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"p":"swervelib.telemetry","l":"Alert"},{"p":"swervelib.telemetry","l":"Alert.AlertType"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.encoders","l":"AnalogAbsoluteEncoderSwerve"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"AngleConversionFactorsJson"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.parser","l":"Cache"},{"p":"swervelib.imu","l":"CanandgyroSwerve"},{"p":"swervelib.encoders","l":"CanAndMagSwerve"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json.modules","l":"ConversionFactorsJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"DriveConversionFactorsJson"},{"p":"swervelib.math","l":"IMULinearMovingAverageFilter"},{"p":"swervelib.imu","l":"IMUVelocity"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.math","l":"Matter"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.encoders","l":"PWMDutyCycleEncoderSwerve"},{"p":"swervelib.telemetry","l":"Alert.SendableAlerts"},{"p":"swervelib.motors","l":"SparkFlexSwerve"},{"p":"swervelib.motors","l":"SparkFlexSwerve.SparkMAX_slotIdx"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxAnalogEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxBrushedMotorSwerve"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry"},{"p":"swervelib","l":"SwerveDriveTest"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry.TelemetryVerbosity"}];updateSearchResults();
\ No newline at end of file
diff --git a/swervelib/imu/CanandgyroSwerve.java b/swervelib/imu/CanandgyroSwerve.java
new file mode 100644
index 0000000..1dc0995
--- /dev/null
+++ b/swervelib/imu/CanandgyroSwerve.java
@@ -0,0 +1,140 @@
+package swervelib.imu;
+
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.Pigeon2Configuration;
+import com.ctre.phoenix6.configs.Pigeon2Configurator;
+import com.ctre.phoenix6.hardware.Pigeon2;
+import com.reduxrobotics.sensors.canandgyro.Canandgyro;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.Optional;
+
+/**
+ * SwerveIMU interface for the Boron Candandgyro by Redux Robotics
+ */
+public class CanandgyroSwerve extends SwerveIMU
+{
+
+ /**
+ * Wait time for status frames to show up.
+ */
+ public static double STATUS_TIMEOUT_SECONDS = 0.04;
+ /**
+ * Boron Canandgyro by Redux Robotics.
+ */
+ Canandgyro imu;
+ /**
+ * Offset for the Boron Canandgyro.
+ */
+ private Rotation3d offset = new Rotation3d();
+ /**
+ * Inversion for the gyro
+ */
+ private boolean invertedIMU = false;
+
+ /**
+ * Generate the SwerveIMU for {@link Canandgyro}.
+ *
+ * @param canid CAN ID for the Boron Canandgyro
+ */
+ public CanandgyroSwerve(int canid)
+ {
+ imu = new Canandgyro(canid);
+ }
+
+ /**
+ * Reset IMU to factory default.
+ */
+ @Override
+ public void factoryDefault()
+ {
+ imu.resetFactoryDefaults(STATUS_TIMEOUT_SECONDS);
+ }
+
+ /**
+ * Clear sticky faults on IMU.
+ */
+ @Override
+ public void clearStickyFaults()
+ {
+ imu.clearStickyFaults();
+ }
+
+ /**
+ * Set the gyro offset.
+ *
+ * @param offset gyro offset as a {@link Rotation3d}.
+ */
+ public void setOffset(Rotation3d offset)
+ {
+ this.offset = offset;
+ }
+
+ /**
+ * Set the gyro to invert its default direction
+ *
+ * @param invertIMU invert gyro direction
+ */
+ public void setInverted(boolean invertIMU)
+ {
+ invertedIMU = invertIMU;
+ }
+
+ /**
+ * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ @Override
+ public Rotation3d getRawRotation3d()
+ {
+ Rotation3d reading = imu.getRotation3d();
+ return invertedIMU ? reading.unaryMinus() : reading;
+ }
+
+ /**
+ * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+ *
+ * @return {@link Rotation3d} from the IMU.
+ */
+ @Override
+ public Rotation3d getRotation3d()
+ {
+ return getRawRotation3d().minus(offset);
+ }
+
+ /**
+ * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+ * empty.
+ *
+ * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+ */
+ @Override
+ public Optional
getAccel()
+ {
+
+ return Optional.of(new Translation3d(imu.getAccelerationFrame().getValue()).times(9.81 / 16384.0));
+ }
+
+ /**
+ * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+ *
+ * @return {@link Double} of the rotation rate as an {@link Optional}.
+ */
+ public double getRate()
+ {
+ return imu.getAngularVelocityYaw();
+ }
+
+ /**
+ * Get the instantiated IMU object.
+ *
+ * @return IMU object.
+ */
+ @Override
+ public Object getIMU()
+ {
+ return imu;
+ }
+}
diff --git a/swervelib/parser/json/DeviceJson.java b/swervelib/parser/json/DeviceJson.java
index bcc269d..7ce6fc3 100644
--- a/swervelib/parser/json/DeviceJson.java
+++ b/swervelib/parser/json/DeviceJson.java
@@ -20,6 +20,7 @@ import swervelib.imu.ADIS16448Swerve;
import swervelib.imu.ADIS16470Swerve;
import swervelib.imu.ADXRS450Swerve;
import swervelib.imu.AnalogGyroSwerve;
+import swervelib.imu.CanandgyroSwerve;
import swervelib.imu.NavXSwerve;
import swervelib.imu.Pigeon2Swerve;
import swervelib.imu.PigeonSwerve;
@@ -117,6 +118,8 @@ public class DeviceJson
return new ADXRS450Swerve();
case "analog":
return new AnalogGyroSwerve(id);
+ case "canandgyro":
+ return new CanandgyroSwerve(id);
case "navx":
case "navx_spi":
return new NavXSwerve(SPI.Port.kMXP);