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Updated swerve module optimizations and moved math to SwerveMath.

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thenetworkgrinch
2023-03-29 07:24:24 -05:00
parent 8d83836a8a
commit d160c01364
121 changed files with 813 additions and 597 deletions
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<title>A-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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@@ -255,10 +255,20 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">State of inversion of the angle motor.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#angleMotorKV" class="member-name-link">angleMotorKV</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 kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#angleMotorRampRate" class="member-name-link">angleMotorRampRate</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dd>
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</dd>
<dt><a href="../swervelib/parser/json/PhysicalPropertiesJson.html#angleMotorsKV" class="member-name-link">angleMotorsKV</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 kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModuleConfiguration.html#angleOffset" class="member-name-link">angleOffset</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></dt>
<dd>
<div class="block">Angle offset in degrees for the Swerve Module.</div>
@@ -271,6 +281,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#antiJitter(swervelib.math.SwerveModuleState2,swervelib.math.SwerveModuleState2,double)" class="member-name-link">antiJitter(SwerveModuleState2, SwerveModuleState2, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dd>
<div class="block">Perform anti-jitter within modules if the speed requested is too low.</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#applyDeadband(double,boolean,double)" class="member-name-link">applyDeadband(double, boolean, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dd>
<div class="block">Algebraically apply a deadband using a piece wise function.</div>

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<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<a href="index-26.html">_</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a>
<h2 class="title" id="I:L">L</h2>
<dl class="index">
<dt><a href="../swervelib/SwerveModule.html#lastAngle" class="member-name-link">lastAngle</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Last angle set for the swerve module.</div>
</dd>
<dt><a href="../swervelib/SwerveController.html#lastAngleScalar" class="member-name-link">lastAngleScalar</a> - Variable in class swervelib.<a href="../swervelib/SwerveController.html" title="class in swervelib">SwerveController</a></dt>
<dd>
<div class="block">Last angle as a scalar [-1,1] the robot was set to.</div>
@@ -65,6 +61,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">The last heading set in radians.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#lastState" class="member-name-link">lastState</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Last swerve module state applied.</div>
</dd>
<dt><a href="../swervelib/simulation/SwerveIMUSimulation.html#lastTime" class="member-name-link">lastTime</a> - Variable in class swervelib.simulation.<a href="../swervelib/simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></dt>
<dd>
<div class="block">The last time the timer was read, used to determine position changes.</div>
@@ -73,10 +73,6 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Last time queried.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#lastVelocity" class="member-name-link">lastVelocity</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Last velocity set for the swerve module.</div>
</dd>
<dt><a href="../swervelib/parser/json/modules/LocationJson.html#left" class="member-name-link">left</a> - Variable in class swervelib.parser.json.modules.<a href="../swervelib/parser/json/modules/LocationJson.html" title="class in swervelib.parser.json.modules">LocationJson</a></dt>
<dd>
<div class="block">Location of the swerve module in inches from the center of the robot vertically.</div>

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<title>O-Index</title>
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@@ -97,6 +97,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Optimal voltage of the robot.</div>
</dd>
<dt><a href="../swervelib/math/SwerveMath.html#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,double)" class="member-name-link">optimize(SwerveModuleState2, Rotation2d, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dd>
<div class="block">Optimize the angle of the <a href="../swervelib/math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to be the closest angle to the current angle.</div>
</dd>
<dt><a href="../swervelib/parser/PIDFConfig.html#output" class="member-name-link">output</a> - Variable in class swervelib.parser.<a href="../swervelib/parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></dt>
<dd>
<div class="block">The PIDF output range.</div>

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@@ -149,13 +149,9 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Generate the SwerveIMU for pigeon.</div>
</dd>
<dt><a href="../swervelib/motors/TalonFXSwerve.html#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope(double, double)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dt><a href="../swervelib/math/SwerveMath.html#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope(double, double)</a> - Static method in class swervelib.math.<a href="../swervelib/math/SwerveMath.html" title="class in swervelib.math">SwerveMath</a></dt>
<dd>
<div class="block">Put an angle within the the 360 deg scope of a reference.</div>
</dd>
<dt><a href="../swervelib/motors/TalonSRXSwerve.html#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope(double, double)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Put an angle within the the 360 deg scope of a reference.</div>
<div class="block">Put an angle within the 360 deg scope of a reference.</div>
</dd>
<dt><a href="../swervelib/math/Matter.html#position" class="member-name-link">position</a> - Variable in class swervelib.math.<a href="../swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
<dd>

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@@ -178,6 +178,24 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
</dd>
<dt><a href="../swervelib/SwerveController.html#setMaximumAngularVelocity(double)" class="member-name-link">setMaximumAngularVelocity(double)</a> - Method in class swervelib.<a href="../swervelib/SwerveController.html" title="class in swervelib">SwerveController</a></dt>
<dd>
<div class="block">Set a new maximum angular velocity that is different from the auto-generated one.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setMaximumSpeed(double)" class="member-name-link">setMaximumSpeed(double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the maximum speed of the drive motors, modified <a href="../swervelib/parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="../swervelib/parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState2[], boolean)</code></a> function and
<a href="../swervelib/SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setMaximumSpeed(double,boolean)" class="member-name-link">setMaximumSpeed(double, boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the maximum speed of the drive motors, modified <a href="../swervelib/parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="../swervelib/parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="../swervelib/SwerveDrive.html#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>SwerveDrive.setRawModuleStates(SwerveModuleState2[], boolean)</code></a> function and
<a href="../swervelib/SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates(SwerveModuleState2[], boolean)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set the module states (azimuth and velocity) directly.</div>
@@ -581,7 +599,7 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Construct the swerve module physical characteristics.</div>
</dd>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int, double, double, int, int)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dt><a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int,double)" class="member-name-link">SwerveModulePhysicalCharacteristics(double, double, double, double, double, double, int, int, double, double, int, int, double)</a> - Constructor for class swervelib.parser.<a href="../swervelib/parser/SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></dt>
<dd>
<div class="block">Construct the swerve module physical characteristics.</div>
</dd>

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<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<title>X-Index</title>
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<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<title>_-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2023-03-28">
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<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<title>C-Index</title>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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docs/swervelib/SwerveController.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>SwerveController</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="2023-03-28">
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<meta name="description" content="declaration: package: swervelib, class: SwerveController">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -202,10 +202,15 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Calculate the angular velocity given the current and target heading angle in radians.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#withinHypotDeadband(double,double)" class="member-name-link">withinHypotDeadband</a><wbr>(double&nbsp;x,
double&nbsp;y)</code></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="#setMaximumAngularVelocity(double)" class="member-name-link">setMaximumAngularVelocity</a><wbr>(double&nbsp;angularVelocity)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set a new maximum angular velocity that is different from the auto-generated one.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#withinHypotDeadband(double,double)" class="member-name-link">withinHypotDeadband</a><wbr>(double&nbsp;x,
double&nbsp;y)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Calculate the hypot deadband and check if the joystick is within it.</div>
</div>
</div>
@@ -433,6 +438,19 @@ loadScripts(document, 'script');</script>
</dl>
</section>
</li>
<li>
<section class="detail" id="setMaximumAngularVelocity(double)">
<h3>setMaximumAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setMaximumAngularVelocity</span><wbr><span class="parameters">(double&nbsp;angularVelocity)</span></div>
<div class="block">Set a new maximum angular velocity that is different from the auto-generated one. Modified the
<a href="parser/SwerveControllerConfiguration.html#maxAngularVelocity"><code>SwerveControllerConfiguration.maxAngularVelocity</code></a> field which is used in the <a href="SwerveController.html" title="class in swervelib"><code>SwerveController</code></a> class
for <code>ChassisSpeeds</code> generation.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>angularVelocity</code> - Angular velocity in radians per second.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>

56
docs/swervelib/SwerveDrive.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>SwerveDrive</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -327,6 +327,23 @@ loadScripts(document, 'script');</script>
<div class="block">Set the expected gyroscope angle using a <code>Rotation3d</code> object.</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-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="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState2[], 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)" class="member-name-link">setMaximumSpeed</a><wbr>(double&nbsp;maximumSpeed,
boolean&nbsp;updateModuleFeedforward)</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="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState2[], 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="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&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">
@@ -744,6 +761,41 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="setMaximumSpeed(double,boolean)">
<h3>setMaximumSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setMaximumSpeed</span><wbr><span class="parameters">(double&nbsp;maximumSpeed,
boolean&nbsp;updateModuleFeedforward)</span></div>
<div class="block">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState2[], 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. This function overrides
what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>maximumSpeed</code> - Maximum speed for the drive motors in meters / second.</dd>
<dd><code>updateModuleFeedforward</code> - Update the swerve module feedforward to account for the new maximum speed. This
should be true unless you have replaced the drive motor feedforward with
<a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)"><code>replaceSwerveModuleFeedforward(SimpleMotorFeedforward)</code></a></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setMaximumSpeed(double)">
<h3>setMaximumSpeed</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setMaximumSpeed</span><wbr><span class="parameters">(double&nbsp;maximumSpeed)</span></div>
<div class="block">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and
<a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is used for the
<a href="#setRawModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setRawModuleStates(SwerveModuleState2[], 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. This function overrides
what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the
<a href="SwerveModule.html#feedforward"><code>SwerveModule.feedforward</code></a>.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>maximumSpeed</code> - Maximum speed for the drive motors in meters / second.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="lockPose()">
<h3>lockPose</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">lockPose</span>()</div>

46
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>SwerveModule</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -121,29 +121,24 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Feedforward for drive motor during closed loop control.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#lastAngle" class="member-name-link">lastAngle</a></code></div>
<div class="col-first even-row-color"><code><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second even-row-color"><code><a href="#lastState" class="member-name-link">lastState</a></code></div>
<div class="col-last even-row-color">
<div class="block">Last angle set for the swerve module.</div>
<div class="block">Last swerve module state applied.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#lastVelocity" class="member-name-link">lastVelocity</a></code></div>
<div class="col-first odd-row-color"><code>int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleNumber" class="member-name-link">moduleNumber</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Last velocity set for the swerve module.</div>
</div>
<div class="col-first even-row-color"><code>int</code></div>
<div class="col-second even-row-color"><code><a href="#moduleNumber" class="member-name-link">moduleNumber</a></code></div>
<div class="col-last even-row-color">
<div class="block">Module number for kinematics, usually 0 to 3.</div>
</div>
<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></code></div>
<div class="col-second odd-row-color"><code><a href="#simModule" class="member-name-link">simModule</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private <a href="simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></code></div>
<div class="col-second even-row-color"><code><a href="#simModule" class="member-name-link">simModule</a></code></div>
<div class="col-last even-row-color">
<div class="block">Simulated swerve module.</div>
</div>
<div class="col-first even-row-color"><code>private boolean</code></div>
<div class="col-second even-row-color"><code><a href="#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Encoder synchronization queued.</div>
</div>
</div>
@@ -300,17 +295,10 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="lastAngle">
<h3>lastAngle</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">lastAngle</span></div>
<div class="block">Last angle set for the swerve module.</div>
</section>
</li>
<li>
<section class="detail" id="lastVelocity">
<h3>lastVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">lastVelocity</span></div>
<div class="block">Last velocity set for the swerve module.</div>
<section class="detail" id="lastState">
<h3>lastState</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">lastState</span></div>
<div class="block">Last swerve module state applied.</div>
</section>
</li>
<li>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>AnalogAbsoluteEncoderSwerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.encoders, class: AnalogAbsoluteEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>CANCoderSwerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.encoders, class: CANCoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>SparkMaxEncoderSwerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>SwerveAbsoluteEncoder</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.encoders, class: SwerveAbsoluteEncoder">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>swervelib.encoders</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>swervelib.encoders Class Hierarchy</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="tree: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageTreeWriter">
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docs/swervelib/imu/ADIS16448Swerve.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>ADIS16448Swerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16448Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>ADIS16470Swerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16470Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>ADXRS450Swerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.imu, class: ADXRS450Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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4
docs/swervelib/imu/AnalogGyroSwerve.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>AnalogGyroSwerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.imu, class: AnalogGyroSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>NavXSwerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.imu, class: NavXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<title>Pigeon2Swerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.imu, class: Pigeon2Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>PigeonSwerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>SwerveIMU</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
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4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>swervelib.imu</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageWriterImpl">
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4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>swervelib.imu Class Hierarchy</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="tree: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>Matter</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.math, class: Matter">
<meta name="generator" content="javadoc/ClassWriterImpl">
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4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>SwerveKinematics2</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveKinematics2">
<meta name="generator" content="javadoc/ClassWriterImpl">
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139
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<title>SwerveMath</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveMath">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -106,85 +106,105 @@ loadScripts(document, 'script');</script>
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</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="#applyDeadband(double,boolean,double)" class="member-name-link">applyDeadband</a><wbr>(double&nbsp;value,
<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="#antiJitter(swervelib.math.SwerveModuleState2,swervelib.math.SwerveModuleState2,double)" class="member-name-link">antiJitter</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;moduleState,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastModuleState,
double&nbsp;maxSpeed)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Perform anti-jitter within modules if the speed requested is too low.</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="#applyDeadband(double,boolean,double)" class="member-name-link">applyDeadband</a><wbr>(double&nbsp;value,
boolean&nbsp;scaled,
double&nbsp;deadband)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>private 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="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">calcMaxAccel</a><wbr>(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>private 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="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">calcMaxAccel</a><wbr>(edu.wpi.first.math.geometry.Rotation2d&nbsp;angle,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
double&nbsp;robotMass,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</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">Calculates the maximum acceleration allowed in a direction without tipping the robot.</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="#calculateAngleKV(double,double,double)" class="member-name-link">calculateAngleKV</a><wbr>(double&nbsp;optimalVoltage,
<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="#calculateAngleKV(double,double,double)" class="member-name-link">calculateAngleKV</a><wbr>(double&nbsp;optimalVoltage,
double&nbsp;motorFreeSpeedRPM,
double&nbsp;angleGearRatio)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward.</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="#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation</a><wbr>(double&nbsp;angleGearRatio,
<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="#calculateDegreesPerSteeringRotation(double,double)" class="member-name-link">calculateDegreesPerSteeringRotation</a><wbr>(double&nbsp;angleGearRatio,
double&nbsp;pulsePerRotation)</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">Calculate the degrees per steering rotation for the integrated encoder.</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="#calculateMaxAcceleration(double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;cof)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<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="#calculateMaxAcceleration(double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;cof)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</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="#calculateMaxAcceleration(double,double,double,double,double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;stallTorqueNm,
<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="#calculateMaxAcceleration(double,double,double,double,double)" class="member-name-link">calculateMaxAcceleration</a><wbr>(double&nbsp;stallTorqueNm,
double&nbsp;gearRatio,
double&nbsp;moduleCount,
double&nbsp;wheelDiameter,
double&nbsp;robotMass)</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">Calculate the maximum theoretical acceleration without friction.</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="#calculateMaxAngularVelocity(double,double,double)" class="member-name-link">calculateMaxAngularVelocity</a><wbr>(double&nbsp;maxSpeed,
<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="#calculateMaxAngularVelocity(double,double,double)" class="member-name-link">calculateMaxAngularVelocity</a><wbr>(double&nbsp;maxSpeed,
double&nbsp;furthestModuleX,
double&nbsp;furthestModuleY)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Calculate the maximum angular velocity.</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="#calculateMetersPerRotation(double,double,double)" class="member-name-link">calculateMetersPerRotation</a><wbr>(double&nbsp;wheelDiameter,
<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="#calculateMetersPerRotation(double,double,double)" class="member-name-link">calculateMetersPerRotation</a><wbr>(double&nbsp;wheelDiameter,
double&nbsp;driveGearRatio,
double&nbsp;pulsePerRotation)</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">Calculate the meters per rotation for the integrated encoder.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule</a><wbr>(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]&nbsp;modules,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="../parser/SwerveModuleConfiguration.html" title="class in swervelib.parser">SwerveModuleConfiguration</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#getSwerveModule(swervelib.SwerveModule%5B%5D,boolean,boolean)" class="member-name-link">getSwerveModule</a><wbr>(<a href="../SwerveModule.html" title="class in swervelib">SwerveModule</a>[]&nbsp;modules,
boolean&nbsp;front,
boolean&nbsp;left)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Get the fruthest module from center based on the module locations.</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.math.geometry.Translation2d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,java.util.List,swervelib.parser.SwerveDriveConfiguration)" class="member-name-link">limitVelocity</a><wbr>(edu.wpi.first.math.geometry.Translation2d&nbsp;commandedVelocity,
edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;fieldVelocity,
edu.wpi.first.math.geometry.Pose2d&nbsp;robotPose,
double&nbsp;loopTime,
double&nbsp;robotMass,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/List.html" title="class or interface in java.util" class="external-link">List</a>&lt;<a href="Matter.html" title="class in swervelib.math">Matter</a>&gt;&nbsp;matter,
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;config)</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">Limits a commanded velocity to prevent exceeding the maximum acceleration given by <a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,java.util.List,double,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List&lt;swervelib.math.Matter&gt;, double, swervelib.parser.SwerveDriveConfiguration)</code></a>.</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="#normalizeAngle(double)" class="member-name-link">normalizeAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<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="#normalizeAngle(double)" class="member-name-link">normalizeAngle</a><wbr>(double&nbsp;angle)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Normalize an angle to be within 0 to 360.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,double)" class="member-name-link">optimize</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
double&nbsp;secondOrderOffsetDegrees)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Optimize the angle of the <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to be the closest angle to the current angle.</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="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
double&nbsp;newAngle)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Put an angle within the 360 deg scope of a reference.</div>
</div>
</div>
</div>
</div>
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</dl>
</section>
</li>
<li>
<section class="detail" id="optimize(swervelib.math.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d,double)">
<h3>optimize</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a></span>&nbsp;<span class="element-name">optimize</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;desiredState,
edu.wpi.first.math.geometry.Rotation2d&nbsp;currentAngle,
double&nbsp;secondOrderOffsetDegrees)</span></div>
<div class="block">Optimize the angle of the <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to be the closest angle to the current angle. Taken from <a href="https://github.com/pittsfordrobotics/REVSwerve2023/blob/master/src/main/java/com/team3181/lib/swerve
/SwerveOptimizer.java">Team 3181.</a></div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>desiredState</code> - Desired <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to achieve.</dd>
<dd><code>currentAngle</code> - Current angle as a <code>Rotation2d</code>.</dd>
<dd><code>secondOrderOffsetDegrees</code> - Offset calculated using 2nd order kinematics.</dd>
<dt>Returns:</dt>
<dd>Optimized <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="placeInAppropriate0To360Scope(double,double)">
<h3>placeInAppropriate0To360Scope</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">placeInAppropriate0To360Scope</span><wbr><span class="parameters">(double&nbsp;scopeReference,
double&nbsp;newAngle)</span></div>
<div class="block">Put an angle within the 360 deg scope of a reference. For example, given a scope reference of 756 degrees, assumes
the full scope is (720-1080), and places an angle of 22 degrees into it, returning 742 deg.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>scopeReference</code> - Current Angle (deg)</dd>
<dd><code>newAngle</code> - Target Angle (deg)</dd>
<dt>Returns:</dt>
<dd>Closest angle within scope (deg)</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="antiJitter(swervelib.math.SwerveModuleState2,swervelib.math.SwerveModuleState2,double)">
<h3>antiJitter</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">antiJitter</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;moduleState,
<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>&nbsp;lastModuleState,
double&nbsp;maxSpeed)</span></div>
<div class="block">Perform anti-jitter within modules if the speed requested is too low.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleState</code> - Current <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> requested.</dd>
<dd><code>lastModuleState</code> - Previous <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> used.</dd>
<dd><code>maxSpeed</code> - Maximum speed of the modules, should be in <a href="../parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a>.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>

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<meta name="dc.created" content="2023-03-28">
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<title>swervelib.math</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="2023-03-28">
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<hr>
<div class="package-signature">package <span class="element-name">swervelib.math</span></div>
<section class="package-description" id="package-description">
<div class="block">Mathematics for swerve drives.</div>
<div class="block">Mathematics for swerve drives. Original second order kinematics was developed by Team 3181 <a href="https://github.com/pittsfordrobotics/ChargedUp2023/tree/master/src/main/java/com/team3181/lib/swerve">her.e</a></div>
</section>
<section class="summary">
<ul class="summary-list">

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<title>swervelib.math Class Hierarchy</title>
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<meta name="dc.created" content="2023-03-28">
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<meta name="dc.created" content="2023-03-28">
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<meta name="dc.created" content="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonFXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -249,64 +249,58 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
double&nbsp;newAngle)</code></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="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Put an angle within the the 360 deg scope of a reference.</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="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</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 percentage output.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</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><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</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 absolute encoder to be a compatible absolute encoder.</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="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</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="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</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 current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</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="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</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="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</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 motor to be inverted.</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="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</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="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</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 rate the open/closed loop output can change by.</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="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</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="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</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 idle mode.</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="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</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="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</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 integrated encoder position.</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="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</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 closed loop PID controller reference point.</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="#setReference(double,double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward,
double&nbsp;position)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</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 closed loop PID controller reference point.</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="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward,
double&nbsp;position)</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 closed loop PID controller reference point.</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="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</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 voltage compensation for the swerve module motor.</div>
</div>
</div>
@@ -630,22 +624,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="placeInAppropriate0To360Scope(double,double)">
<h3>placeInAppropriate0To360Scope</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">placeInAppropriate0To360Scope</span><wbr><span class="parameters">(double&nbsp;scopeReference,
double&nbsp;newAngle)</span></div>
<div class="block">Put an angle within the the 360 deg scope of a reference. For example, given a scope reference of 756 degrees,
assumes the full scope is (720-1080), and places an angle of 22 degrees into it, returning 742 deg.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>scopeReference</code> - Current Angle (deg)</dd>
<dd><code>newAngle</code> - Target Angle (deg)</dd>
<dt>Returns:</dt>
<dd>Closest angle within scope (deg)</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="convertToNativeSensorUnits(double,double)">
<h3>convertToNativeSensorUnits</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">convertToNativeSensorUnits</span><wbr><span class="parameters">(double&nbsp;setpoint,

86
docs/swervelib/motors/TalonSRXSwerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
<!-- Generated by javadoc (17) on Wed Mar 29 07:20:20 CDT 2023 -->
<title>TalonSRXSwerve</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonSRXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -243,64 +243,58 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
double&nbsp;newAngle)</code></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="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Put an angle within the the 360 deg scope of a reference.</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="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</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 percentage output.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</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><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</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 absolute encoder to be a compatible absolute encoder.</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="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</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="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</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 current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</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="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</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="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</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 motor to be inverted.</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="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</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="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</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 rate the open/closed loop output can change by.</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="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</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="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</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 idle mode.</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="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</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="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</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 integrated encoder position.</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="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</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 closed loop PID controller reference point.</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="#setReference(double,double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward,
double&nbsp;position)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</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 closed loop PID controller reference point.</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="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward,
double&nbsp;position)</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 closed loop PID controller reference point.</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="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</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 voltage compensation for the swerve module motor.</div>
</div>
</div>
@@ -609,22 +603,6 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="placeInAppropriate0To360Scope(double,double)">
<h3>placeInAppropriate0To360Scope</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">placeInAppropriate0To360Scope</span><wbr><span class="parameters">(double&nbsp;scopeReference,
double&nbsp;newAngle)</span></div>
<div class="block">Put an angle within the the 360 deg scope of a reference. For example, given a scope reference of 756 degrees,
assumes the full scope is (720-1080), and places an angle of 22 degrees into it, returning 742 deg.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>scopeReference</code> - Current Angle (deg)</dd>
<dd><code>newAngle</code> - Target Angle (deg)</dd>
<dt>Returns:</dt>
<dd>Closest angle within scope (deg)</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="convertToNativeSensorUnits(double,double)">
<h3>convertToNativeSensorUnits</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">convertToNativeSensorUnits</span><wbr><span class="parameters">(double&nbsp;setpoint,

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<title>swervelib.motors</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="2023-03-28">
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<meta name="description" content="declaration: package: swervelib.motors">
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<title>swervelib.motors Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>swervelib</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="2023-03-28">
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<title>swervelib Class Hierarchy</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="2023-03-28">
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<title>PIDFConfig</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-28">
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<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<title>SwerveControllerConfiguration</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveControllerConfiguration">
<meta name="generator" content="javadoc/ClassWriterImpl">
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@@ -97,12 +97,12 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">PIDF for the heading of the robot.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#maxAngularVelocity" class="member-name-link">maxAngularVelocity</a></code></div>
<div class="col-last even-row-color">
<div class="block">Maximum angular velocity in rad/s</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-first odd-row-color"><code>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="block">Maximum robot speed in meters per second.</div>
@@ -153,14 +153,14 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Maximum robot speed in meters per second.</div>
</section>
</li>
<li>
<section class="detail" id="maxAngularVelocity">
<h3>maxAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxAngularVelocity</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxAngularVelocity</span></div>
<div class="block">Maximum angular velocity in rad/s</div>
</section>
</li>

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<title>SwerveDriveConfiguration</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
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<title>SwerveModuleConfiguration</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-28">
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<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModuleConfiguration">
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@@ -141,7 +141,7 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">State of inversion of the drive motor.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-first even-row-color"><code>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>
@@ -275,7 +275,7 @@ loadScripts(document, 'script');</script>
<li>
<section class="detail" id="maxSpeed">
<h3>maxSpeed</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxSpeed</span></div>
<div class="block">Maximum robot speed in meters per second.</div>
</section>
</li>

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<title>SwerveModulePhysicalCharacteristics</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
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@@ -108,43 +108,49 @@ loadScripts(document, 'script');</script>
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorRampRate" class="member-name-link">angleMotorRampRate</a></code></div>
<div class="col-second even-row-color"><code><a href="#angleMotorKV" class="member-name-link">angleMotorKV</a></code></div>
<div class="col-last even-row-color">
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorRampRate" class="member-name-link">angleMotorRampRate</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</div>
<div class="col-first odd-row-color"><code>final int</code></div>
<div class="col-second odd-row-color"><code><a href="#driveEncoderPulsePerRotation" class="member-name-link">driveEncoderPulsePerRotation</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final int</code></div>
<div class="col-second even-row-color"><code><a href="#driveEncoderPulsePerRotation" class="member-name-link">driveEncoderPulsePerRotation</a></code></div>
<div class="col-last even-row-color">
<div class="block">Drive motor encoder pulse per rotation.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#driveGearRatio" class="member-name-link">driveGearRatio</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#driveGearRatio" class="member-name-link">driveGearRatio</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Drive gear ratio.</div>
</div>
<div class="col-first odd-row-color"><code>final int</code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotorCurrentLimit" class="member-name-link">driveMotorCurrentLimit</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final int</code></div>
<div class="col-second even-row-color"><code><a href="#driveMotorCurrentLimit" class="member-name-link">driveMotorCurrentLimit</a></code></div>
<div class="col-last even-row-color">
<div class="block">Current limits for the Swerve Module.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#driveMotorRampRate" class="member-name-link">driveMotorRampRate</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#driveMotorRampRate" class="member-name-link">driveMotorRampRate</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</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="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
<div class="col-last even-row-color">
<div class="block">Optimal voltage of the robot.</div>
</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Wheel diameter in meters.</div>
</div>
<div class="col-first odd-row-color"><code>final double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</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="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last even-row-color">
<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
</div>
</div>
@@ -169,7 +175,7 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Construct the swerve module physical characteristics.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int,double)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
double&nbsp;angleMotorFreeSpeedRPM,
double&nbsp;wheelDiameter,
@@ -180,7 +186,8 @@ loadScripts(document, 'script');</script>
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</code></div>
int&nbsp;angleEncoderPulsePerRotation,
double&nbsp;angleMotorKV)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct the swerve module physical characteristics.</div>
</div>
@@ -289,6 +296,15 @@ loadScripts(document, 'script');</script>
<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorKV">
<h3>angleMotorKV</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorKV</span></div>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
calculated kV will be used.</div>
</section>
</li>
</ul>
</section>
</li>
@@ -298,7 +314,7 @@ loadScripts(document, 'script');</script>
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,double,int,int,double,double,int,int)">
<section class="detail" id="&lt;init&gt;(double,double,double,double,double,double,int,int,double,double,int,int,double)">
<h3>SwerveModulePhysicalCharacteristics</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(double&nbsp;driveGearRatio,
double&nbsp;angleGearRatio,
@@ -311,7 +327,8 @@ loadScripts(document, 'script');</script>
double&nbsp;driveMotorRampRate,
double&nbsp;angleMotorRampRate,
int&nbsp;driveEncoderPulsePerRotation,
int&nbsp;angleEncoderPulsePerRotation)</span></div>
int&nbsp;angleEncoderPulsePerRotation,
double&nbsp;angleMotorKV)</span></div>
<div class="block">Construct the swerve module physical characteristics.</div>
<dl class="notes">
<dt>Parameters:</dt>

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<meta name="dc.created" content="2023-03-28">
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<!-- Generated by javadoc (17) on Tue Mar 28 10:14:05 CDT 2023 -->
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<title>DeviceJson</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.parser.json, class: DeviceJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>ModuleJson</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.parser.json, class: ModuleJson">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>MotorConfigDouble</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.parser.json, class: MotorConfigDouble">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>MotorConfigInt</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.parser.json, class: MotorConfigInt">
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<title>PIDFPropertiesJson</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.parser.json, class: PIDFPropertiesJson">
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<title>PhysicalPropertiesJson</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="2023-03-28">
<meta name="dc.created" content="2023-03-29">
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@@ -96,34 +96,40 @@ loadScripts(document, 'script');</script>
<div class="col-last even-row-color">
<div class="block">Angle motor free speed rotations per minute.</div>
</div>
<div class="col-first odd-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second odd-row-color"><code><a href="#currentLimit" class="member-name-link">currentLimit</a></code></div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#angleMotorsKV" class="member-name-link">angleMotorsKV</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The current limit in AMPs to apply to the motors.</div>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate.</div>
</div>
<div class="col-first even-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second even-row-color"><code><a href="#encoderPulsePerRotation" class="member-name-link">encoderPulsePerRotation</a></code></div>
<div class="col-second even-row-color"><code><a href="#currentLimit" class="member-name-link">currentLimit</a></code></div>
<div class="col-last even-row-color">
<div class="block">The current limit in AMPs to apply to the motors.</div>
</div>
<div class="col-first odd-row-color"><code><a href="MotorConfigInt.html" title="class in swervelib.parser.json">MotorConfigInt</a></code></div>
<div class="col-second odd-row-color"><code><a href="#encoderPulsePerRotation" class="member-name-link">encoderPulsePerRotation</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Encoder pulse per rotation for non-integrated encoders.</div>
</div>
<div class="col-first odd-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second odd-row-color"><code><a href="#gearRatio" class="member-name-link">gearRatio</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second even-row-color"><code><a href="#gearRatio" class="member-name-link">gearRatio</a></code></div>
<div class="col-last even-row-color">
<div class="block">Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.</div>
</div>
<div class="col-first even-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second even-row-color"><code><a href="#rampRate" class="member-name-link">rampRate</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code><a href="MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
<div class="col-second odd-row-color"><code><a href="#rampRate" class="member-name-link">rampRate</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The minimum number of seconds to take for the motor to go from 0 to full throttle.</div>
</div>
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#wheelDiameter" class="member-name-link">wheelDiameter</a></code></div>
<div class="col-last even-row-color">
<div class="block">Wheel diameter in inches.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>double</code></div>
<div class="col-second odd-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
<div class="col-last odd-row-color">
<div class="block">The grip tape coefficient of friction on carpet.</div>
</div>
</div>
@@ -224,6 +230,15 @@ loadScripts(document, 'script');</script>
<div class="block">Angle motor free speed rotations per minute.</div>
</section>
</li>
<li>
<section class="detail" id="angleMotorsKV">
<h3>angleMotorsKV</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleMotorsKV</span></div>
<div class="block">Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
calculated kV will be used.</div>
</section>
</li>
</ul>
</section>
</li>

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<meta name="dc.created" content="2023-03-28">
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<meta name="dc.created" content="2023-03-28">
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<meta name="dc.created" content="2023-03-28">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-03-28">
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<meta name="dc.created" content="2023-03-28">
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<meta name="dc.created" content="2023-03-28">
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<meta name="dc.created" content="2023-03-28">
<meta name="dc.created" content="2023-03-29">
<meta name="description" content="declaration: package: swervelib.simulation, class: SwerveIMUSimulation">
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<meta name="dc.created" content="2023-03-28">
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<meta name="dc.created" content="2023-03-28">
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<meta name="dc.created" content="2023-03-28">
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