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thenetworkgrinch
2024-02-02 18:55:29 -06:00
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Fri Jan 26 12:44:25 CST 2024 -->
<!-- Generated by javadoc (17) on Fri Feb 02 18:47:23 CST 2024 -->
<title>SwerveDriveTest</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-01-26">
<meta name="dc.created" content="2024-02-02">
<meta name="description" content="declaration: package: swervelib, class: SwerveDriveTest">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -45,13 +45,13 @@ loadScripts(document, 'script');</script>
<ul class="sub-nav-list">
<li>Summary:&nbsp;</li>
<li>Nested&nbsp;|&nbsp;</li>
<li>Field&nbsp;|&nbsp;</li>
<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method-summary">Method</a></li>
</ul>
<ul class="sub-nav-list">
<li>Detail:&nbsp;</li>
<li>Field&nbsp;|&nbsp;</li>
<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method-detail">Method</a></li>
</ul>
@@ -82,6 +82,43 @@ loadScripts(document, 'script');</script>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</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">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private static final edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Angle&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#m_anglePosition" class="member-name-link">m_anglePosition</a></code></div>
<div class="col-last even-row-color">
<div class="block">Tracks the rotations of an angular motor</div>
</div>
<div class="col-first odd-row-color"><code>private static final edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Velocity&lt;edu.wpi.first.units.Angle&gt;&gt;</code></div>
<div class="col-second odd-row-color"><code><a href="#m_angVelocity" class="member-name-link">m_angVelocity</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Tracks the velocity of an angular motor</div>
</div>
<div class="col-first even-row-color"><code>private static final edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Voltage&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#m_appliedVoltage" class="member-name-link">m_appliedVoltage</a></code></div>
<div class="col-last even-row-color">
<div class="block">Tracks the voltage being applied to a motor</div>
</div>
<div class="col-first odd-row-color"><code>private static final edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Distance&gt;</code></div>
<div class="col-second odd-row-color"><code><a href="#m_distance" class="member-name-link">m_distance</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Tracks the distance travelled of a position motor</div>
</div>
<div class="col-first even-row-color"><code>private static final edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Velocity&lt;edu.wpi.first.units.Distance&gt;&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#m_velocity" class="member-name-link">m_velocity</a></code></div>
<div class="col-last even-row-color">
<div class="block">Tracks the velocity of a positional motor</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
@@ -117,23 +154,76 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Set the modules to center to 0.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#findCouplingRatio(swervelib.SwerveDrive,double,boolean)" class="member-name-link">findCouplingRatio</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
double&nbsp;volts,
boolean&nbsp;automatic)</code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#createConfigCustomTimeout(double)" class="member-name-link">createConfigCustomTimeout</a><wbr>(double&nbsp;timeout)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Find the coupling ratio for all modules.</div>
<div class="block">Creates a SysIdRoutine.Config with a custom final timeout</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#findDriveMotorKV(swervelib.SwerveDrive,double,double,double)" class="member-name-link">findDriveMotorKV</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#findCouplingRatio(swervelib.SwerveDrive,double,boolean)" class="member-name-link">findCouplingRatio</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
double&nbsp;volts,
boolean&nbsp;automatic)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Find the coupling ratio for all modules.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#findDriveMotorKV(swervelib.SwerveDrive,double,double,double)" class="member-name-link">findDriveMotorKV</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
double&nbsp;minMovement,
double&nbsp;testDelaySeconds,
double&nbsp;maxVolts)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Find the minimum amount of power required to move the swerve drive motors.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.wpilibj2.command.Command</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#generateSysIdCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine,double,double,double)" class="member-name-link">generateSysIdCommand</a><wbr>(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine&nbsp;sysIdRoutine,
double&nbsp;delay,
double&nbsp;quasiTimeout,
double&nbsp;dynamicTimeout)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Creates a command that can be mapped to a button or other trigger.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#powerAngleMotors(swervelib.SwerveDrive,double)" class="member-name-link">powerAngleMotors</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logAngularMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)" class="member-name-link">logAngularMotorActivity</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link">Double</a>&gt;&nbsp;powerSupplied)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Logs info about the angle motor to the SysIdRoutineLog</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logAngularMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)" class="member-name-link">logAngularMotorDutyCycle</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Logs info about the angle motor to the SysIdRoutineLog.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logAngularMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)" class="member-name-link">logAngularMotorVoltage</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Logs info about the angle motor to the SysIdRoutineLog</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logDriveMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)" class="member-name-link">logDriveMotorActivity</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link">Double</a>&gt;&nbsp;powerSupplied)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Logs power, position and velocuty info form the drive motor to the SysIdRoutineLog</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logDriveMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)" class="member-name-link">logDriveMotorDutyCycle</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Logs output, position and velocuty info form the drive motor to the SysIdRoutineLog <br/> Although SysIdRoutine
expects to be logging Voltage, this function logs in Duty-Cycle (percent output) because it results in correctly
adjusted values in the analysis for use in this library.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logDriveMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)" class="member-name-link">logDriveMotorVoltage</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Logs voltage, position and velocuty info form the drive motor to the SysIdRoutineLog</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#powerAngleMotorsDutyCycle(swervelib.SwerveDrive,double)" class="member-name-link">powerAngleMotorsDutyCycle</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
double&nbsp;percentage)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Power the angle motors for the swerve drive to a set percentage.</div>
@@ -156,6 +246,21 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Power the drive motors for the swerve drive to a set voltage.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#setAngleSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive)" class="member-name-link">setAngleSysIdRoutine</a><wbr>(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config&nbsp;config,
edu.wpi.first.wpilibj2.command.SubsystemBase&nbsp;swerveSubsystem,
<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Sets up the SysId runner and logger for the angle motors</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#setDriveSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive,double)" class="member-name-link">setDriveSysIdRoutine</a><wbr>(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config&nbsp;config,
edu.wpi.first.wpilibj2.command.SubsystemBase&nbsp;swerveSubsystem,
<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
double&nbsp;maxVolts)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Sets up the SysId runner and logger for the drive motors</div>
</div>
</div>
</div>
</div>
@@ -168,6 +273,49 @@ loadScripts(document, 'script');</script>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="m_appliedVoltage">
<h3>m_appliedVoltage</h3>
<div class="member-signature"><span class="modifiers">private static final</span>&nbsp;<span class="return-type">edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Voltage&gt;</span>&nbsp;<span class="element-name">m_appliedVoltage</span></div>
<div class="block">Tracks the voltage being applied to a motor</div>
</section>
</li>
<li>
<section class="detail" id="m_distance">
<h3>m_distance</h3>
<div class="member-signature"><span class="modifiers">private static final</span>&nbsp;<span class="return-type">edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Distance&gt;</span>&nbsp;<span class="element-name">m_distance</span></div>
<div class="block">Tracks the distance travelled of a position motor</div>
</section>
</li>
<li>
<section class="detail" id="m_velocity">
<h3>m_velocity</h3>
<div class="member-signature"><span class="modifiers">private static final</span>&nbsp;<span class="return-type">edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Velocity&lt;edu.wpi.first.units.Distance&gt;&gt;</span>&nbsp;<span class="element-name">m_velocity</span></div>
<div class="block">Tracks the velocity of a positional motor</div>
</section>
</li>
<li>
<section class="detail" id="m_anglePosition">
<h3>m_anglePosition</h3>
<div class="member-signature"><span class="modifiers">private static final</span>&nbsp;<span class="return-type">edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Angle&gt;</span>&nbsp;<span class="element-name">m_anglePosition</span></div>
<div class="block">Tracks the rotations of an angular motor</div>
</section>
</li>
<li>
<section class="detail" id="m_angVelocity">
<h3>m_angVelocity</h3>
<div class="member-signature"><span class="modifiers">private static final</span>&nbsp;<span class="return-type">edu.wpi.first.units.MutableMeasure&lt;edu.wpi.first.units.Velocity&lt;edu.wpi.first.units.Angle&gt;&gt;</span>&nbsp;<span class="element-name">m_angVelocity</span></div>
<div class="block">Tracks the velocity of an angular motor</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
@@ -214,9 +362,9 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="powerAngleMotors(swervelib.SwerveDrive,double)">
<h3>powerAngleMotors</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">powerAngleMotors</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
<section class="detail" id="powerAngleMotorsDutyCycle(swervelib.SwerveDrive,double)">
<h3>powerAngleMotorsDutyCycle</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">powerAngleMotorsDutyCycle</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
double&nbsp;percentage)</span></div>
<div class="block">Power the angle motors for the swerve drive to a set percentage.</div>
<dl class="notes">
@@ -299,6 +447,161 @@ loadScripts(document, 'script');</script>
</dl>
</section>
</li>
<li>
<section class="detail" id="createConfigCustomTimeout(double)">
<h3>createConfigCustomTimeout</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config</span>&nbsp;<span class="element-name">createConfigCustomTimeout</span><wbr><span class="parameters">(double&nbsp;timeout)</span></div>
<div class="block">Creates a SysIdRoutine.Config with a custom final timeout</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>timeout</code> - - the most a SysIdRoutine should run</dd>
<dt>Returns:</dt>
<dd>A custom SysIdRoutine.Config</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="logDriveMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)">
<h3>logDriveMotorDutyCycle</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">logDriveMotorDutyCycle</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log)</span></div>
<div class="block">Logs output, position and velocuty info form the drive motor to the SysIdRoutineLog <br/> Although SysIdRoutine
expects to be logging Voltage, this function logs in Duty-Cycle (percent output) because it results in correctly
adjusted values in the analysis for use in this library.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>module</code> - - the swerve module being logged</dd>
<dd><code>log</code> - - the logger</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="logDriveMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)">
<h3>logDriveMotorVoltage</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">logDriveMotorVoltage</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log)</span></div>
<div class="block">Logs voltage, position and velocuty info form the drive motor to the SysIdRoutineLog</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>module</code> - - the swerve module being logged</dd>
<dd><code>log</code> - - the logger</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="logDriveMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)">
<h3>logDriveMotorActivity</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">logDriveMotorActivity</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link">Double</a>&gt;&nbsp;powerSupplied)</span></div>
<div class="block">Logs power, position and velocuty info form the drive motor to the SysIdRoutineLog</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>module</code> - - the swerve module being logged</dd>
<dd><code>log</code> - - the logger</dd>
<dd><code>powerSupplied</code> - - a functional supplier of the power to be logged</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setDriveSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive,double)">
<h3>setDriveSysIdRoutine</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine</span>&nbsp;<span class="element-name">setDriveSysIdRoutine</span><wbr><span class="parameters">(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config&nbsp;config,
edu.wpi.first.wpilibj2.command.SubsystemBase&nbsp;swerveSubsystem,
<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive,
double&nbsp;maxVolts)</span></div>
<div class="block">Sets up the SysId runner and logger for the drive motors</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>config</code> - - The SysIdRoutine.Config to use</dd>
<dd><code>swerveSubsystem</code> - - the subsystem to add to requirements</dd>
<dd><code>swerveDrive</code> - - the SwerveDrive from which to access motor info</dd>
<dd><code>maxVolts</code> - - The maximum voltage that should be applied to the drive motors.</dd>
<dt>Returns:</dt>
<dd>A SysIdRoutine runner</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="logAngularMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)">
<h3>logAngularMotorDutyCycle</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">logAngularMotorDutyCycle</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log)</span></div>
<div class="block">Logs info about the angle motor to the SysIdRoutineLog. <br/> Although SysIdRoutine expects to be logging Voltage,
this function logs in Duty-Cycle (percent output) because it results in correctly adjusted values in the analysis
for use in this library.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>module</code> - - the swerve module being logged</dd>
<dd><code>log</code> - - the logger</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="logAngularMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)">
<h3>logAngularMotorVoltage</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">logAngularMotorVoltage</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log)</span></div>
<div class="block">Logs info about the angle motor to the SysIdRoutineLog</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>module</code> - - the swerve module being logged</dd>
<dd><code>log</code> - - the logger</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="logAngularMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)">
<h3>logAngularMotorActivity</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">logAngularMotorActivity</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>&nbsp;module,
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog&nbsp;log,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a>&lt;<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link">Double</a>&gt;&nbsp;powerSupplied)</span></div>
<div class="block">Logs info about the angle motor to the SysIdRoutineLog</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>module</code> - - the swerve module being logged</dd>
<dd><code>log</code> - - the logger</dd>
<dd><code>powerSupplied</code> - - a functional supplier of the power to be logged</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setAngleSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive)">
<h3>setAngleSysIdRoutine</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine</span>&nbsp;<span class="element-name">setAngleSysIdRoutine</span><wbr><span class="parameters">(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config&nbsp;config,
edu.wpi.first.wpilibj2.command.SubsystemBase&nbsp;swerveSubsystem,
<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a>&nbsp;swerveDrive)</span></div>
<div class="block">Sets up the SysId runner and logger for the angle motors</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>config</code> - - The SysIdRoutine.Config to use</dd>
<dd><code>swerveSubsystem</code> - - the subsystem to add to requirements</dd>
<dd><code>swerveDrive</code> - - the SwerveDrive from which to access motor info</dd>
<dt>Returns:</dt>
<dd>A SysIdRoutineRunner</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="generateSysIdCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine,double,double,double)">
<h3>generateSysIdCommand</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj2.command.Command</span>&nbsp;<span class="element-name">generateSysIdCommand</span><wbr><span class="parameters">(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine&nbsp;sysIdRoutine,
double&nbsp;delay,
double&nbsp;quasiTimeout,
double&nbsp;dynamicTimeout)</span></div>
<div class="block">Creates a command that can be mapped to a button or other trigger. Delays can be set to customize the length of
each part of the SysId Routine</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>sysIdRoutine</code> - - The Sys Id routine runner</dd>
<dd><code>delay</code> - - seconds between each portion to allow motors to spin down, etc...</dd>
<dd><code>quasiTimeout</code> - - seconds to run the Quasistatic routines, so robot doesn't get too far</dd>
<dd><code>dynamicTimeout</code> - - seconds to run the Dynamic routines, 2-3 secs should be enough</dd>
<dt>Returns:</dt>
<dd>A command that can be mapped to a button or other trigger</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>