SwerveMath.calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).voidresetOdometry(edu.wpi.first.math.geometry.Pose2d pose) voidresetOdometry(edu.wpi.first.math.geometry.Pose2d pose) voidsetChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds) voidsetChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds) voidsetGyro(edu.wpi.first.math.geometry.Rotation3d gyro) voidsetGyro(edu.wpi.first.math.geometry.Rotation3d gyro) Rotation3d object.voidsetModuleStates(SwerveModuleState2[] desiredStates,
+void
+setModuleStates(SwerveModuleState2[] desiredStates,
boolean isOpenLoop)
-
+
Set the module states (azimuth and velocity) directly.
-void
-setMotorIdleMode(boolean brake)
-
+void
+setMotorIdleMode(boolean brake)
+
Sets the drive motors to brake/coast mode.
-void
-
-
+void
+
+
Synchronize angle motor integrated encoders with data from absolute encoders.
-void
-
-
+void
+
+
Update odometry should be run every loop.
-void
-zeroGyro()
-
+void
+zeroGyro()
+
Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
@@ -779,6 +785,14 @@ loadScripts(document, 'script');
+
+
+resetEncoders
+public void resetEncoders()
+Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in
+ autonomous.
+
+
diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html
index 8b84050..774e6d5 100644
--- a/docs/swervelib/SwerveModule.html
+++ b/docs/swervelib/SwerveModule.html
@@ -1,11 +1,11 @@
-
+
SwerveModule
-
+
@@ -197,8 +197,9 @@ loadScripts(document, 'script');
Set the angle for the module.
void
-setDesiredState(SwerveModuleState2 desiredState,
- boolean isOpenLoop)
+setDesiredState(SwerveModuleState2 desiredState,
+ boolean isOpenLoop,
+ boolean force)
Set the desired state of the swerve module.
@@ -336,15 +337,18 @@ loadScripts(document, 'script');
-
+
setDesiredState
+ boolean isOpenLoop,
+ boolean force)
Set the desired state of the swerve module.
- Parameters:
desiredState - Desired swerve module state.isOpenLoop - Whether to use open loop (direct percent) or direct velocity control.force - Disables optimizations that prevent movement in the angle motor and forces the desired state
+ onto the swerve module.
diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html
index a43fab7..c4c156b 100644
--- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html
+++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html
@@ -1,11 +1,11 @@
-
+
AnalogAbsoluteEncoderSwerve
-
+
diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html
index 5d97852..ea48e59 100644
--- a/docs/swervelib/encoders/CANCoderSwerve.html
+++ b/docs/swervelib/encoders/CANCoderSwerve.html
@@ -1,11 +1,11 @@
-
+
CANCoderSwerve
-
+
diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html
index 755b128..7a975a1 100644
--- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html
+++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html
@@ -1,11 +1,11 @@
-
+
SparkMaxEncoderSwerve
-
+
diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html
index 55c226a..248b4f4 100644
--- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html
+++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html
@@ -1,11 +1,11 @@
-
+
SwerveAbsoluteEncoder
-
+
diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html
index 9ed5860..603f15e 100644
--- a/docs/swervelib/encoders/package-summary.html
+++ b/docs/swervelib/encoders/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.encoders
-
+
diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html
index ea79fed..67b73ce 100644
--- a/docs/swervelib/encoders/package-tree.html
+++ b/docs/swervelib/encoders/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.encoders Class Hierarchy
-
+
diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html
index 3229353..c73d573 100644
--- a/docs/swervelib/imu/ADIS16448Swerve.html
+++ b/docs/swervelib/imu/ADIS16448Swerve.html
@@ -1,11 +1,11 @@
-
+
ADIS16448Swerve
-
+
diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html
index 21fb025..f533a20 100644
--- a/docs/swervelib/imu/ADIS16470Swerve.html
+++ b/docs/swervelib/imu/ADIS16470Swerve.html
@@ -1,11 +1,11 @@
-
+
ADIS16470Swerve
-
+
diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html
index cd79707..03323e3 100644
--- a/docs/swervelib/imu/ADXRS450Swerve.html
+++ b/docs/swervelib/imu/ADXRS450Swerve.html
@@ -1,11 +1,11 @@
-
+
ADXRS450Swerve
-
+
diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html
index 42f73bb..1df69db 100644
--- a/docs/swervelib/imu/AnalogGyroSwerve.html
+++ b/docs/swervelib/imu/AnalogGyroSwerve.html
@@ -1,11 +1,11 @@
-
+
AnalogGyroSwerve
-
+
diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html
index 0524fab..17f2850 100644
--- a/docs/swervelib/imu/NavXSwerve.html
+++ b/docs/swervelib/imu/NavXSwerve.html
@@ -1,11 +1,11 @@
-
+
NavXSwerve
-
+
diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html
index e054279..97c1537 100644
--- a/docs/swervelib/imu/Pigeon2Swerve.html
+++ b/docs/swervelib/imu/Pigeon2Swerve.html
@@ -1,11 +1,11 @@
-
+
Pigeon2Swerve
-
+
diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html
index 2050242..be5e6d4 100644
--- a/docs/swervelib/imu/PigeonSwerve.html
+++ b/docs/swervelib/imu/PigeonSwerve.html
@@ -1,11 +1,11 @@
-
+
PigeonSwerve
-
+
diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html
index e0da8aa..e3370b9 100644
--- a/docs/swervelib/imu/SwerveIMU.html
+++ b/docs/swervelib/imu/SwerveIMU.html
@@ -1,11 +1,11 @@
-
+
SwerveIMU
-
+
diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html
index 48eb855..c5ab418 100644
--- a/docs/swervelib/imu/package-summary.html
+++ b/docs/swervelib/imu/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.imu
-
+
diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html
index 38191ea..2ce6729 100644
--- a/docs/swervelib/imu/package-tree.html
+++ b/docs/swervelib/imu/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.imu Class Hierarchy
-
+
diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html
index 7951054..3e124cc 100644
--- a/docs/swervelib/math/Matter.html
+++ b/docs/swervelib/math/Matter.html
@@ -1,11 +1,11 @@
-
+
Matter
-
+
diff --git a/docs/swervelib/math/SwerveKinematics2.html b/docs/swervelib/math/SwerveKinematics2.html
index 321c800..6065d3d 100644
--- a/docs/swervelib/math/SwerveKinematics2.html
+++ b/docs/swervelib/math/SwerveKinematics2.html
@@ -1,11 +1,11 @@
-
+
SwerveKinematics2
-
+
diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html
index 8e9c90d..be9e889 100644
--- a/docs/swervelib/math/SwerveMath.html
+++ b/docs/swervelib/math/SwerveMath.html
@@ -1,11 +1,11 @@
-
+
SwerveMath
-
+
diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html
index 596933f..6ac0ef4 100644
--- a/docs/swervelib/math/SwerveModuleState2.html
+++ b/docs/swervelib/math/SwerveModuleState2.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleState2
-
+
diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html
index 273687d..d8a7110 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 54db6b4..15b1e06 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/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
index cef7f80..18ac3d5 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 e81afca..64bf838 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 0e4ad69..fd7d7b7 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 50eda8d..ad7a604 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 5c31262..da82bb8 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 fc853e9..23978a0 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 f7abe17..5194eaf 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 5cf2de6..8a97276 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 4f3dec2..9ea949a 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 d3419ba..7f3fcdb 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/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html
index 215bfa5..0e08822 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 b39b5db..9c7e1de 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 aec466c..2cec65a 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 097355b..4c31506 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 b8d726a..aef720d 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 187b511..17e60ea 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 8df733b..c0f8950 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 1ec8908..20d3180 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 80433a5..4725744 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 2614621..232c510 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 795ed93..8d652ce 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 597bec8..6615c93 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 a01481a..e687f65 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 68d7836..c616825 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 9f1d09b..a1606e5 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 9fad9a2..ad35961 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 c9ae6e2..21ac2b3 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/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html
index 1dc00af..2f412a2 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/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html
index f4483a2..62de372 100644
--- a/docs/swervelib/parser/json/modules/LocationJson.html
+++ b/docs/swervelib/parser/json/modules/LocationJson.html
@@ -1,11 +1,11 @@
-
+
LocationJson
-
+
@@ -75,7 +75,7 @@ loadScripts(document, 'script');
Location JSON parsed class. Used to access the JSON data. Module locations, in inches, as distances to the center of
- the robot. Positive x is torwards the robot front, and * +y is torwards robot left.
+ the robot. +x is towards the robot front, and +y is towards robot left.
@@ -89,6 +89,16 @@ loadScripts(document, 'script');
Field
Description
double
+
+
+Location of the swerve module in inches from the center of the robot horizontally.
+
+double
+
+
+Location of the swerve module in inches from the center of the robot vertically.
+
+double
Location of the swerve module in inches from the center of the robot horizontally.
@@ -133,6 +143,13 @@ loadScripts(document, 'script');
Field Details
-
+
+front
+public double front
+Location of the swerve module in inches from the center of the robot horizontally.
+
+
+-
x
public double x
@@ -140,6 +157,13 @@ loadScripts(document, 'script');
-
+
+left
+public double left
+Location of the swerve module in inches from the center of the robot vertically.
+
+
+-
y
public double y
diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html
index 8c9de06..07546bc 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 1364835..554673b 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 aa15fdd..5316462 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 b4e7434..4f218c4 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 3952c36..efd5139 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 34ee35d..7ea4871 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 db139a2..bc5a7de 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 35710e6..a6d0c1b 100644
--- a/docs/swervelib/simulation/SwerveModuleSimulation.html
+++ b/docs/swervelib/simulation/SwerveModuleSimulation.html
@@ -1,11 +1,11 @@
-
+
SwerveModuleSimulation
-
+
@@ -251,7 +251,7 @@ loadScripts(document, 'script');
updateStateAndPosition
-Update the position and state of the module. Called from SwerveModule.setDesiredState(swervelib.math.SwerveModuleState2, boolean) function
+Update the position and state of the module. Called from SwerveModule.setDesiredState(swervelib.math.SwerveModuleState2, boolean, boolean) function
when simulated.
- Parameters:
diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html
index 78a3f10..91dbf7a 100644
--- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html
+++ b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html
@@ -1,11 +1,11 @@
-
+
PhysicsSim.SimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html
index 040a2f5..7ce4b0d 100644
--- a/docs/swervelib/simulation/ctre/PhysicsSim.html
+++ b/docs/swervelib/simulation/ctre/PhysicsSim.html
@@ -1,11 +1,11 @@
-
+
PhysicsSim
-
+
diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
index 27dde19..aaf0d9c 100644
--- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html
@@ -1,11 +1,11 @@
-
+
TalonFXSimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html
index 64e94bf..7855863 100644
--- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html
@@ -1,11 +1,11 @@
-
+
TalonSRXSimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html
index aac38e5..a81e0a0 100644
--- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html
+++ b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html
@@ -1,11 +1,11 @@
-
+
VictorSPXSimProfile
-
+
diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html
index 3f59219..a51f6d2 100644
--- a/docs/swervelib/simulation/ctre/package-summary.html
+++ b/docs/swervelib/simulation/ctre/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation.ctre
-
+
diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html
index f75c6ad..d3883fa 100644
--- a/docs/swervelib/simulation/ctre/package-tree.html
+++ b/docs/swervelib/simulation/ctre/package-tree.html
@@ -1,11 +1,11 @@
-
+
swervelib.simulation.ctre Class Hierarchy
-
+
diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html
index b6cffc1..1e8e196 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 5e18b38..a4bb99b 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/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html
index 6b0dc74..0821281 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 566319f..8a16b2e 100644
--- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html
+++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html
@@ -1,11 +1,11 @@
-
+
SwerveDriveTelemetry
-
+
diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html
index 863ef29..a9fba98 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 e748973..84f83d7 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/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java
index 9319bb0..e4718a8 100644
--- a/swervelib/SwerveDrive.java
+++ b/swervelib/SwerveDrive.java
@@ -263,7 +263,7 @@ public class SwerveDrive
// Sets states
for (SwerveModule module : swerveModules)
{
- module.setDesiredState(desiredStates[module.moduleNumber], isOpenLoop);
+ module.setDesiredState(desiredStates[module.moduleNumber], isOpenLoop, false);
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
{
@@ -536,7 +536,7 @@ public class SwerveDrive
SwerveDriveTelemetry.desiredStates[(swerveModule.moduleNumber * 2) + 1] =
desiredState.speedMetersPerSecond;
}
- swerveModule.setDesiredState(desiredState, false);
+ swerveModule.setDesiredState(desiredState, false, true);
}
}
@@ -700,4 +700,16 @@ public class SwerveDrive
imu.setOffset(gyro);
}
+ /**
+ * Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in
+ * autonomous.
+ */
+ public void resetEncoders()
+ {
+ for (SwerveModule module : swerveModules)
+ {
+ module.configuration.driveMotor.setPosition(0);
+ }
+ }
+
}
diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java
index af1f9f5..0f25819 100644
--- a/swervelib/SwerveModule.java
+++ b/swervelib/SwerveModule.java
@@ -140,8 +140,10 @@ public class SwerveModule
*
* @param desiredState Desired swerve module state.
* @param isOpenLoop Whether to use open loop (direct percent) or direct velocity control.
+ * @param force Disables optimizations that prevent movement in the angle motor and forces the desired state
+ * onto the swerve module.
*/
- public void setDesiredState(SwerveModuleState2 desiredState, boolean isOpenLoop)
+ public void setDesiredState(SwerveModuleState2 desiredState, boolean isOpenLoop, boolean force)
{
SwerveModuleState simpleState =
new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
@@ -173,15 +175,22 @@ public class SwerveModule
lastVelocity = velocity;
}
- // Prevents module rotation if speed is less than 1%
- double angle =
- (Math.abs(desiredState.speedMetersPerSecond) <= (configuration.maxSpeed * 0.01)
- ? lastAngle
- : desiredState.angle.getDegrees());
- if (angle != lastAngle)
+ double angle = desiredState.angle.getDegrees();
+
+ // If we are forcing the angle
+ if (force)
{
- angleMotor.setReference(
- angle, Math.toDegrees(desiredState.omegaRadPerSecond) * configuration.angleKV);
+ angleMotor.setReference(angle, Math.toDegrees(desiredState.omegaRadPerSecond) * configuration.angleKV);
+ } else
+ {
+ // Prevents module rotation if speed is less than 1%
+ angle = Math.abs(desiredState.speedMetersPerSecond) <= (configuration.maxSpeed * 0.01) ? lastAngle : angle;
+ // Prevent module rotation if angle is the same as the previous angle.
+ if (angle != lastAngle)
+ {
+ angleMotor.setReference(
+ angle, Math.toDegrees(desiredState.omegaRadPerSecond) * configuration.angleKV);
+ }
}
lastAngle = angle;
diff --git a/swervelib/imu/ADIS16448Swerve.java b/swervelib/imu/ADIS16448Swerve.java
index ed9ae42..683ece0 100644
--- a/swervelib/imu/ADIS16448Swerve.java
+++ b/swervelib/imu/ADIS16448Swerve.java
@@ -58,7 +58,7 @@ public class ADIS16448Swerve extends SwerveIMU
*/
public void setOffset(Rotation3d offset)
{
- offset = getRotation3d();
+ this.offset = offset;
}
/**
diff --git a/swervelib/imu/ADIS16470Swerve.java b/swervelib/imu/ADIS16470Swerve.java
index eadfacd..0068e4b 100644
--- a/swervelib/imu/ADIS16470Swerve.java
+++ b/swervelib/imu/ADIS16470Swerve.java
@@ -59,7 +59,7 @@ public class ADIS16470Swerve extends SwerveIMU
*/
public void setOffset(Rotation3d offset)
{
- offset = getRotation3d();
+ this.offset = offset;
}
/**
diff --git a/swervelib/imu/ADXRS450Swerve.java b/swervelib/imu/ADXRS450Swerve.java
index 699470f..ba29264 100644
--- a/swervelib/imu/ADXRS450Swerve.java
+++ b/swervelib/imu/ADXRS450Swerve.java
@@ -56,7 +56,7 @@ public class ADXRS450Swerve extends SwerveIMU
*/
public void setOffset(Rotation3d offset)
{
- offset = getRotation3d();
+ this.offset = offset;
}
/**
diff --git a/swervelib/imu/AnalogGyroSwerve.java b/swervelib/imu/AnalogGyroSwerve.java
index ee55a18..124bd36 100644
--- a/swervelib/imu/AnalogGyroSwerve.java
+++ b/swervelib/imu/AnalogGyroSwerve.java
@@ -63,7 +63,7 @@ public class AnalogGyroSwerve extends SwerveIMU
*/
public void setOffset(Rotation3d offset)
{
- offset = getRotation3d();
+ this.offset = offset;
}
/**
diff --git a/swervelib/imu/NavXSwerve.java b/swervelib/imu/NavXSwerve.java
index bb0bbbf..9ac8c61 100644
--- a/swervelib/imu/NavXSwerve.java
+++ b/swervelib/imu/NavXSwerve.java
@@ -73,7 +73,7 @@ public class NavXSwerve extends SwerveIMU
*/
public void setOffset(Rotation3d offset)
{
- offset = getRotation3d();
+ this.offset = offset;
}
/**
diff --git a/swervelib/imu/Pigeon2Swerve.java b/swervelib/imu/Pigeon2Swerve.java
index 2c60c55..086a3b0 100644
--- a/swervelib/imu/Pigeon2Swerve.java
+++ b/swervelib/imu/Pigeon2Swerve.java
@@ -54,6 +54,7 @@ public class Pigeon2Swerve extends SwerveIMU
public void factoryDefault()
{
imu.configFactoryDefault();
+ imu.configEnableCompass(false); // Compass utilization causes readings to jump dramatically in some cases.
}
/**
@@ -72,7 +73,7 @@ public class Pigeon2Swerve extends SwerveIMU
*/
public void setOffset(Rotation3d offset)
{
- offset = getRotation3d();
+ this.offset = offset;
}
/**
diff --git a/swervelib/imu/PigeonSwerve.java b/swervelib/imu/PigeonSwerve.java
index 32a7071..44fafcc 100644
--- a/swervelib/imu/PigeonSwerve.java
+++ b/swervelib/imu/PigeonSwerve.java
@@ -59,7 +59,7 @@ public class PigeonSwerve extends SwerveIMU
*/
public void setOffset(Rotation3d offset)
{
- offset = getRotation3d();
+ this.offset = offset;
}
/**
diff --git a/swervelib/parser/json/ModuleJson.java b/swervelib/parser/json/ModuleJson.java
index b570ebe..588429c 100644
--- a/swervelib/parser/json/ModuleJson.java
+++ b/swervelib/parser/json/ModuleJson.java
@@ -82,8 +82,8 @@ public class ModuleJson
angleMotor,
absEncoder,
absoluteEncoderOffset,
- Units.inchesToMeters(location.x),
- Units.inchesToMeters(location.y),
+ Units.inchesToMeters(Math.round(location.x) == 0 ? location.front : location.x),
+ Units.inchesToMeters(Math.round(location.y) == 0 ? location.left : location.y),
anglePIDF,
velocityPIDF,
maxSpeed,
diff --git a/swervelib/parser/json/modules/LocationJson.java b/swervelib/parser/json/modules/LocationJson.java
index c0a403c..a0471ef 100644
--- a/swervelib/parser/json/modules/LocationJson.java
+++ b/swervelib/parser/json/modules/LocationJson.java
@@ -2,7 +2,7 @@ package swervelib.parser.json.modules;
/**
* Location JSON parsed class. Used to access the JSON data. Module locations, in inches, as distances to the center of
- * the robot. Positive x is torwards the robot front, and * +y is torwards robot left.
+ * the robot. +x is towards the robot front, and +y is towards robot left.
*/
public class LocationJson
{
@@ -10,9 +10,9 @@ public class LocationJson
/**
* Location of the swerve module in inches from the center of the robot horizontally.
*/
- public double x;
+ public double front = 0, x = 0;
/**
* Location of the swerve module in inches from the center of the robot vertically.
*/
- public double y;
+ public double left = 0, y = 0;
}