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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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47
swervelib/parser/SwerveModuleConfiguration.java
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@@ -48,6 +48,10 @@ public class SwerveModuleConfiguration
* Angle volt-meter-per-second.
*/
public double angleKV;
/**
* The integrated encoder pulse per revolution.
*/
public double angleMotorEncoderPulsePerRevolution = 0;
/**
* Swerve module location relative to the robot.
*/
@@ -68,19 +72,21 @@ public class SwerveModuleConfiguration
/**
* Construct a configuration object for swerve modules.
*
* @param driveMotor Drive {@link SwerveMotor}.
* @param angleMotor Angle {@link SwerveMotor}
* @param absoluteEncoder Absolute encoder {@link SwerveAbsoluteEncoder}.
* @param angleOffset Absolute angle offset to 0.
* @param absoluteEncoderInverted Absolute encoder inverted.
* @param angleMotorInverted State of inversion of the angle motor.
* @param driveMotorInverted Drive motor inverted.
* @param xMeters Module location in meters from the center horizontally.
* @param yMeters Module location in meters from center vertically.
* @param anglePIDF Angle PIDF configuration.
* @param velocityPIDF Velocity PIDF configuration.
* @param maxSpeed Maximum speed in meters per second.
* @param physicalCharacteristics Physical characteristics of the swerve module.
* @param driveMotor Drive {@link SwerveMotor}.
* @param angleMotor Angle {@link SwerveMotor}
* @param absoluteEncoder Absolute encoder {@link SwerveAbsoluteEncoder}.
* @param angleOffset Absolute angle offset to 0.
* @param absoluteEncoderInverted Absolute encoder inverted.
* @param angleMotorInverted State of inversion of the angle motor.
* @param driveMotorInverted Drive motor inverted.
* @param xMeters Module location in meters from the center horizontally.
* @param yMeters Module location in meters from center vertically.
* @param anglePIDF Angle PIDF configuration.
* @param velocityPIDF Velocity PIDF configuration.
* @param maxSpeed Maximum speed in meters per second.
* @param physicalCharacteristics Physical characteristics of the swerve module.
* @param angleMotorEncoderPulsePerRevolution The encoder pulse per revolution for the angle motor encoder.
* @param angleMotorFreeSpeedRPM The free speed RPM of the angle motor.
*/
public SwerveModuleConfiguration(
SwerveMotor driveMotor,
@@ -95,7 +101,9 @@ public class SwerveModuleConfiguration
SwerveModulePhysicalCharacteristics physicalCharacteristics,
boolean absoluteEncoderInverted,
boolean driveMotorInverted,
boolean angleMotorInverted)
boolean angleMotorInverted,
double angleMotorEncoderPulsePerRevolution,
double angleMotorFreeSpeedRPM)
{
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
@@ -111,9 +119,10 @@ public class SwerveModuleConfiguration
this.angleKV =
calculateAngleKV(
physicalCharacteristics.optimalVoltage,
physicalCharacteristics.angleMotorFreeSpeedRPM,
angleMotorFreeSpeedRPM,
physicalCharacteristics.angleGearRatio);
this.physicalCharacteristics = physicalCharacteristics;
this.angleMotorEncoderPulsePerRevolution = angleMotorEncoderPulsePerRevolution;
}
/**
@@ -156,7 +165,9 @@ public class SwerveModuleConfiguration
physicalCharacteristics,
false,
false,
false);
false,
physicalCharacteristics.angleEncoderPulsePerRotation,
physicalCharacteristics.angleMotorFreeSpeedRPM);
}
/**
@@ -187,9 +198,9 @@ public class SwerveModuleConfiguration
? calculateMetersPerRotation(
physicalCharacteristics.wheelDiameter,
physicalCharacteristics.driveGearRatio,
physicalCharacteristics.driveEncoderPulsePerRotation)
angleMotorEncoderPulsePerRevolution)
: calculateDegreesPerSteeringRotation(
physicalCharacteristics.angleGearRatio,
physicalCharacteristics.angleEncoderPulsePerRotation);
angleMotorEncoderPulsePerRevolution);
}
}