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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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24
swervelib/SwerveController.java
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@@ -16,27 +16,27 @@ public class SwerveController
* {@link SwerveControllerConfiguration} object storing data to generate the {@link PIDController} for controlling the
* robot heading, and deadband for heading joystick.
*/
public final SwerveControllerConfiguration config;
public final SwerveControllerConfiguration config;
/**
* PID Controller for the robot heading.
*/
public final PIDController thetaController; // TODO: Switch to ProfilePIDController
public final PIDController thetaController; // TODO: Switch to ProfilePIDController
/**
* Last angle as a scalar [-1,1] the robot was set to.
*/
public double lastAngleScalar;
public double lastAngleScalar;
/**
* {@link SlewRateLimiter} for movement in the X direction in meters/second.
*/
public SlewRateLimiter xLimiter = null;
public SlewRateLimiter xLimiter = null;
/**
* {@link SlewRateLimiter} for movement in the Y direction in meters/second.
*/
public SlewRateLimiter yLimiter = null;
public SlewRateLimiter yLimiter = null;
/**
* {@link SlewRateLimiter} for angular movement in radians/second.
*/
public SlewRateLimiter angleLimiter = null;
public SlewRateLimiter angleLimiter = null;
/**
* Construct the SwerveController object which is used for determining the speeds of the robot based on controller
@@ -200,4 +200,16 @@ public class SwerveController
{
return thetaController.calculate(currentHeadingAngleRadians, targetHeadingAngleRadians) * config.maxAngularVelocity;
}
/**
* Set a new maximum angular velocity that is different from the auto-generated one. Modified the
* {@link SwerveControllerConfiguration#maxAngularVelocity} field which is used in the {@link SwerveController} class
* for {@link ChassisSpeeds} generation.
*
* @param angularVelocity Angular velocity in radians per second.
*/
public void setMaximumAngularVelocity(double angularVelocity)
{
config.maxAngularVelocity = angularVelocity;
}
}