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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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15
swervelib/parser/json/ModuleJson.java
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@@ -38,7 +38,15 @@ public class ModuleJson
/**
* Absolute encoder inversion state.
*/
public boolean absoluteEncoderInverted = false;
public boolean absoluteEncoderInverted = false;
/**
* The angle encoder pulse per revolution override. 1 for Neo encoder. 2048 for Falcons.
*/
public double angleEncoderPulsePerRevolution = 0;
/**
* Angle motor free speed RPM.
*/
public double angleMotorFreeSpeedRPM = 0;
/**
* The location of the swerve module from the center of the robot in inches.
*/
@@ -82,6 +90,9 @@ public class ModuleJson
physicalCharacteristics,
absoluteEncoderInverted,
inverted.drive,
inverted.angle);
inverted.angle,
angleEncoderPulsePerRevolution == 0 ? physicalCharacteristics.angleEncoderPulsePerRotation
: angleEncoderPulsePerRevolution,
angleMotorFreeSpeedRPM == 0 ? physicalCharacteristics.angleMotorFreeSpeedRPM : angleMotorFreeSpeedRPM);
}
}