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Code Issues Packages Projects Releases Wiki Activity

Added overridable configuration options in module json

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This commit is contained in:
thenetworkgrinch
2023-02-23 22:16:09 -06:00
parent f5c63d5c6f
commit b484ed9bc0
108 changed files with 234 additions and 158 deletions
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@@ -186,6 +186,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Heading of the robot.</div>
</dd>
<dt><a href="../swervelib/parser/json/ModuleJson.html#angleEncoderPulsePerRevolution" class="member-name-link">angleEncoderPulsePerRevolution</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></dt>
<dd>
<div class="block">The angle encoder pulse per revolution override.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#angleEncoderPulsePerRotation" class="member-name-link">angleEncoderPulsePerRotation</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dd>
<div class="block">Angle motor encoder pulse per rotation.</div>
@@ -222,6 +226,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Current limits for the Swerve Module.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#angleMotorEncoderPulsePerRevolution" class="member-name-link">angleMotorEncoderPulsePerRevolution</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">The integrated encoder pulse per revolution.</div>
</dd>
<dt><a href="../swervelib/parser/json/ModuleJson.html#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/ModuleJson.html" title="class in swervelib.parser.json">ModuleJson</a></dt>
<dd>
<div class="block">Angle motor free speed RPM.</div>
</dd>
<dt><a href="../swervelib/parser/json/PhysicalPropertiesJson.html#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/PhysicalPropertiesJson.html" title="class in swervelib.parser.json">PhysicalPropertiesJson</a></dt>
<dd>
<div class="block">Angle motor free speed rotations per minute.</div>

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@@ -483,7 +483,7 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Construct a configuration object for swerve modules.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)" class="member-name-link">SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,double)" class="member-name-link">SwerveModuleConfiguration(SwerveMotor, SwerveMotor, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, double, double)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">Construct a configuration object for swerve modules.</div>
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<title>ADXRS450Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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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>
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<title>SwerveIMU</title>
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<title>swervelib.imu</title>
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<title>swervelib.imu Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>SwerveKinematics2</title>
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<title>SwerveMath</title>
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<title>SwerveModuleState2</title>
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<!-- Generated by javadoc (17) on Thu Feb 23 21:12:10 CST 2023 -->
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<title>swervelib.math</title>
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<title>swervelib.math Class Hierarchy</title>
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<title>SparkMaxSwerve.SparkMAX_slotIdx</title>
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<title>SparkMaxSwerve</title>
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<!-- Generated by javadoc (17) on Thu Feb 23 21:12:10 CST 2023 -->
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<title>SwerveMotor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>TalonFXSwerve</title>
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<title>TalonSRXSwerve</title>
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<title>swervelib.motors</title>
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<title>swervelib.motors Class Hierarchy</title>
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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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<!-- Generated by javadoc (17) on Thu Feb 23 21:12:10 CST 2023 -->
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<title>SwerveDriveConfiguration</title>
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<!-- Generated by javadoc (17) on Thu Feb 23 21:12:10 CST 2023 -->
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<title>SwerveModuleConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -111,49 +111,54 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">The drive motor and angle motor of this swerve module.</div>
</div>
<div class="col-first even-row-color"><code>final boolean</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorInverted" class="member-name-link">angleMotorInverted</a></code></div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorEncoderPulsePerRevolution" class="member-name-link">angleMotorEncoderPulsePerRevolution</a></code></div>
<div class="col-last even-row-color">
<div class="block">The integrated encoder pulse per revolution.</div>
</div>
<div class="col-first odd-row-color"><code>final boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorInverted" class="member-name-link">angleMotorInverted</a></code></div>
<div class="col-last odd-row-color">
<div class="block">State of inversion of the angle motor.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleOffset" class="member-name-link">angleOffset</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#angleOffset" class="member-name-link">angleOffset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle offset in degrees for the Swerve Module.</div>
</div>
<div class="col-first even-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second even-row-color"><code><a href="#anglePIDF" class="member-name-link">anglePIDF</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second odd-row-color"><code><a href="#anglePIDF" class="member-name-link">anglePIDF</a></code></div>
<div class="col-last odd-row-color">
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
</div>
<div class="col-first odd-row-color"><code><a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotor" class="member-name-link">driveMotor</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color"><code><a href="#driveMotor" class="member-name-link">driveMotor</a></code></div>
<div class="col-last even-row-color">
<div class="block">The drive motor and angle motor of this swerve module.</div>
</div>
<div class="col-first even-row-color"><code>final boolean</code></div>
<div class="col-second even-row-color"><code><a href="#driveMotorInverted" class="member-name-link">driveMotorInverted</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>final boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotorInverted" class="member-name-link">driveMotorInverted</a></code></div>
<div class="col-last odd-row-color">
<div class="block">State of inversion of the drive motor.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
<div class="col-last even-row-color">
<div class="block">Maximum robot speed in meters per second.</div>
</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color"><code><a href="#moduleLocation" class="member-name-link">moduleLocation</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleLocation" class="member-name-link">moduleLocation</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve module location relative to the robot.</div>
</div>
<div class="col-first odd-row-color"><code><a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></div>
<div class="col-second odd-row-color"><code><a href="#physicalCharacteristics" class="member-name-link">physicalCharacteristics</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></div>
<div class="col-second even-row-color"><code><a href="#physicalCharacteristics" class="member-name-link">physicalCharacteristics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Physical characteristics of the swerve module.</div>
</div>
<div class="col-first even-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second even-row-color"><code><a href="#velocityPIDF" class="member-name-link">velocityPIDF</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second odd-row-color"><code><a href="#velocityPIDF" class="member-name-link">velocityPIDF</a></code></div>
<div class="col-last odd-row-color">
<div class="block">PIDF configuration options for the drive motor closed-loop PID controller.</div>
</div>
</div>
@@ -180,7 +185,7 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Construct a configuration object for swerve modules.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,double)" class="member-name-link">SwerveModuleConfiguration</a><wbr>(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
@@ -192,7 +197,9 @@ loadScripts(document, 'script');</script>
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
boolean&nbsp;absoluteEncoderInverted,
boolean&nbsp;driveMotorInverted,
boolean&nbsp;angleMotorInverted)</code></div>
boolean&nbsp;angleMotorInverted,
double&nbsp;angleMotorEncoderPulsePerRevolution,
double&nbsp;angleMotorFreeSpeedRPM)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct a configuration object for swerve modules.</div>
</div>
@@ -294,6 +301,13 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="angleMotorEncoderPulsePerRevolution">
<h3>angleMotorEncoderPulsePerRevolution</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorEncoderPulsePerRevolution</span></div>
<div class="block">The integrated encoder pulse per revolution.</div>
</section>
</li>
<li>
<section class="detail" id="moduleLocation">
<h3>moduleLocation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d</span>&nbsp;<span class="element-name">moduleLocation</span></div>
@@ -337,7 +351,7 @@ loadScripts(document, 'script');</script>
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)">
<section class="detail" id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean,double,double)">
<h3>SwerveModuleConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleConfiguration</span><wbr><span class="parameters">(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
@@ -351,7 +365,9 @@ loadScripts(document, 'script');</script>
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
boolean&nbsp;absoluteEncoderInverted,
boolean&nbsp;driveMotorInverted,
boolean&nbsp;angleMotorInverted)</span></div>
boolean&nbsp;angleMotorInverted,
double&nbsp;angleMotorEncoderPulsePerRevolution,
double&nbsp;angleMotorFreeSpeedRPM)</span></div>
<div class="block">Construct a configuration object for swerve modules.</div>
<dl class="notes">
<dt>Parameters:</dt>
@@ -368,6 +384,8 @@ loadScripts(document, 'script');</script>
<dd><code>velocityPIDF</code> - Velocity PIDF configuration.</dd>
<dd><code>maxSpeed</code> - Maximum speed in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
<dd><code>angleMotorEncoderPulsePerRevolution</code> - The encoder pulse per revolution for the angle motor encoder.</dd>
<dd><code>angleMotorFreeSpeedRPM</code> - The free speed RPM of the angle motor.</dd>
</dl>
</section>
</li>

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<head>
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@@ -237,7 +237,7 @@ loadScripts(document, 'script');</script>
<section class="detail" id="angleEncoderPulsePerRotation">
<h3>angleEncoderPulsePerRotation</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">angleEncoderPulsePerRotation</span></div>
<div class="block">Angle motor encoder pulse per rotation. 1 if integrated encoder.</div>
<div class="block">Angle motor encoder pulse per rotation. 1 for Neo encoder. 2048 for Falcons.</div>
</section>
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<title>PIDFRange</title>
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<title>swervelib.parser.deserializer</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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@@ -106,6 +106,16 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Angle motor device configuration.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleEncoderPulsePerRevolution" class="member-name-link">angleEncoderPulsePerRevolution</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The angle encoder pulse per revolution override.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorFreeSpeedRPM" class="member-name-link">angleMotorFreeSpeedRPM</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor free speed RPM.</div>
</div>
<div class="col-first odd-row-color"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></div>
<div class="col-second odd-row-color"><code><a href="#drive" class="member-name-link">drive</a></code></div>
<div class="col-last odd-row-color">
@@ -221,6 +231,20 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="angleEncoderPulsePerRevolution">
<h3>angleEncoderPulsePerRevolution</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleEncoderPulsePerRevolution</span></div>
<div class="block">The angle encoder pulse per revolution override. 1 for Neo encoder. 2048 for Falcons.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorFreeSpeedRPM">
<h3>angleMotorFreeSpeedRPM</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorFreeSpeedRPM</span></div>
<div class="block">Angle motor free speed RPM.</div>
</section>
</li>
<li>
<section class="detail" id="location">
<h3>location</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></span>&nbsp;<span class="element-name">location</span></div>

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