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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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18
docs/index-files/index-1.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>A-Index</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="index: A">
<meta name="generator" content="javadoc/IndexWriter">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -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>