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Added configurable heading correction deadband

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thenetworkgrinch
2024-01-18 15:37:24 -06:00
parent 83f80a91d7
commit ac980a91b6
108 changed files with 178 additions and 166 deletions
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docs/allclasses-index.html
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Jan 18 12:07:17 CST 2024 -->
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<title>All Classes and Interfaces</title>
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<title>All Packages</title>
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<title>Constant Field Values</title>
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@@ -52,26 +52,11 @@ loadScripts(document, 'script');</script>
<section class="packages">
<h2 title="Contents">Contents</h2>
<ul>
<li><a href="#swervelib">swervelib.*</a></li>
<li><a href="#swervelib.encoders">swervelib.encoders.*</a></li>
<li><a href="#swervelib.motors">swervelib.motors.*</a></li>
</ul>
</section>
</div>
<section class="constants-summary" id="swervelib">
<h2 title="swervelib">swervelib.*</h2>
<ul class="block-list">
<li>
<div class="caption"><span>swervelib.<a href="swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Constant Field</div>
<div class="table-header col-last">Value</div>
<div class="col-first even-row-color"><code id="swervelib.SwerveDrive.HEADING_CORRECTION_DEADBAND">private&nbsp;final&nbsp;double</code></div>
<div class="col-second even-row-color"><code><a href="swervelib/SwerveDrive.html#HEADING_CORRECTION_DEADBAND">HEADING_CORRECTION_DEADBAND</a></code></div>
<div class="col-last even-row-color"><code>0.01</code></div>
</div>
</li>
</ul>
</section>
<section class="constants-summary" id="swervelib.encoders">
<h2 title="swervelib.encoders">swervelib.encoders.*</h2>
<ul class="block-list">

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<title>A-Index</title>
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<title>K-Index</title>
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<title>L-Index</title>
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<title>M-Index</title>
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<title>N-Index</title>
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<title>O-Index</title>
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<html lang="en">
<head>
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<title>Q-Index</title>
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<head>
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<title>R-Index</title>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Jan 18 12:07:17 CST 2024 -->
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<title>S-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -217,6 +217,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the heading correction capabilities of YAGSL.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setHeadingCorrection(boolean,double)" class="member-name-link">setHeadingCorrection(boolean, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the heading correction capabilities of YAGSL.</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>

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<head>
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<title>V-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>W-Index</title>
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<title>Z-Index</title>
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<title>C-Index</title>
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<title>Overview</title>
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Jan 18 12:07:17 CST 2024 -->
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<title>SwerveController</title>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Jan 18 12:07:17 CST 2024 -->
<!-- Generated by javadoc (17) on Thu Jan 18 15:35:15 CST 2024 -->
<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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@@ -117,7 +117,7 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Field object.</div>
</div>
<div class="col-first odd-row-color"><code>private final double</code></div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#HEADING_CORRECTION_DEADBAND" class="member-name-link">HEADING_CORRECTION_DEADBAND</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Deadband for speeds in heading correction.</div>
@@ -452,68 +452,74 @@ loadScripts(document, 'script');</script>
<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-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-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-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="#setMaximumSpeed(double,boolean,double)" class="member-name-link">setMaximumSpeed</a><wbr>(double&nbsp;maximumSpeed,
<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,
boolean&nbsp;updateModuleFeedforward,
double&nbsp;optimalVoltage)</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 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="#setMaximumSpeeds(double,double,double)" class="member-name-link">setMaximumSpeeds</a><wbr>(double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
<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,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</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 speeds for desaturation.</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="#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 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,
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="#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="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="block">Sets the drive motors to brake/coast mode.</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="#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="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="block">Set the odometry update period in seconds.</div>
</div>
<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,
<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,
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="#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="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="block">Stop the odometry thread in favor of manually updating odometry.</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="#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="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="block">Synchronize angle motor integrated encoders with data from absolute encoders.</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="#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="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="block">Update odometry should be run every loop.</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="#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="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="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
</div>
</div>
@@ -578,16 +584,8 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="HEADING_CORRECTION_DEADBAND">
<h3>HEADING_CORRECTION_DEADBAND</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">HEADING_CORRECTION_DEADBAND</span></div>
<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>
<dl class="notes">
<dt>See Also:</dt>
<dd>
<ul class="see-list">
<li><a href="../constant-values.html#swervelib.SwerveDrive.HEADING_CORRECTION_DEADBAND">Constant Field Values</a></li>
</ul>
</dd>
</dl>
</section>
</li>
<li>
@@ -805,6 +803,19 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setHeadingCorrection(boolean,double)">
<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,
double&nbsp;deadband)</span></div>
<div class="block">Set the heading correction capabilities of YAGSL.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>state</code> - <a href="#headingCorrection"><code>headingCorrection</code></a> state.</dd>
<dd><code>deadband</code> - <a href="#HEADING_CORRECTION_DEADBAND"><code>HEADING_CORRECTION_DEADBAND</code></a> deadband.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="driveFieldOriented(edu.wpi.first.math.kinematics.ChassisSpeeds)">
<h3>driveFieldOriented</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">driveFieldOriented</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;velocity)</span></div>

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<title>CANCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
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<title>CanAndCoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>PWMDutyCycleEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
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<title>SparkMaxAnalogEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>SparkMaxEncoderSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>SwerveAbsoluteEncoder</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Thu Jan 18 12:07:17 CST 2024 -->
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<title>swervelib.encoders</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib.encoders Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>ADIS16448Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>ADIS16470Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>ADXRS450Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
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<title>AnalogGyroSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>Pigeon2Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>PigeonSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib.imu</title>
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<title>swervelib.imu Class Hierarchy</title>
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<title>Matter</title>
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<title>SwerveMath</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib.math</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib.math Class Hierarchy</title>
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<title>SparkFlexSwerve.SparkMAX_slotIdx</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>SparkFlexSwerve</title>
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<title>SparkMaxSwerve.SparkMAX_slotIdx</title>
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<title>SparkMaxSwerve</title>
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<title>SwerveMotor</title>
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<title>TalonFXSwerve</title>
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<title>TalonSRXSwerve</title>
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<title>swervelib.motors</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib</title>
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<title>swervelib Class Hierarchy</title>
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<title>PIDFConfig</title>
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<title>SwerveControllerConfiguration</title>
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<title>SwerveDriveConfiguration</title>
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<title>SwerveModuleConfiguration</title>
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<title>SwerveModulePhysicalCharacteristics</title>
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<title>SwerveParser</title>
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<title>PIDFRange</title>
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<title>swervelib.parser.deserializer</title>
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<title>swervelib.parser.deserializer Class Hierarchy</title>
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<title>ControllerPropertiesJson</title>
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<title>DeviceJson</title>
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<title>ModuleJson</title>
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<title>MotorConfigDouble</title>
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<title>MotorConfigInt</title>
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<title>PIDFPropertiesJson</title>
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<title>PhysicalPropertiesJson</title>
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<title>SwerveDriveJson</title>
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<title>BoolMotorJson</title>
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<title>LocationJson</title>
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<title>swervelib.parser.json.modules</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib.parser.json.modules Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib.parser.json</title>
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<title>swervelib.parser.json Class Hierarchy</title>
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<!DOCTYPE HTML>
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<title>swervelib.parser</title>
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<title>swervelib.parser Class Hierarchy</title>
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<!DOCTYPE HTML>
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<!DOCTYPE HTML>
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