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Updated swerve module optimizations and moved math to SwerveMath.

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This commit is contained in:
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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13
swervelib/parser/SwerveModuleConfiguration.java
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@@ -4,7 +4,6 @@ import static swervelib.math.SwerveMath.calculateAngleKV;
import static swervelib.math.SwerveMath.calculateDegreesPerSteeringRotation;
import static swervelib.math.SwerveMath.calculateMaxAcceleration;
import static swervelib.math.SwerveMath.calculateMetersPerRotation;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Translation2d;
import swervelib.encoders.SwerveAbsoluteEncoder;
@@ -35,7 +34,7 @@ public class SwerveModuleConfiguration
/**
* Maximum robot speed in meters per second.
*/
public final double maxSpeed;
public double maxSpeed;
/**
* PIDF configuration options for the angle motor closed-loop PID controller.
*/
@@ -116,11 +115,11 @@ public class SwerveModuleConfiguration
this.anglePIDF = anglePIDF;
this.velocityPIDF = velocityPIDF;
this.maxSpeed = maxSpeed;
this.angleKV =
calculateAngleKV(
physicalCharacteristics.optimalVoltage,
angleMotorFreeSpeedRPM,
physicalCharacteristics.angleGearRatio);
this.angleKV = physicalCharacteristics.angleMotorKV == 0 ?
calculateAngleKV(
physicalCharacteristics.optimalVoltage,
angleMotorFreeSpeedRPM,
physicalCharacteristics.angleGearRatio) : physicalCharacteristics.angleMotorKV;
this.physicalCharacteristics = physicalCharacteristics;
this.angleMotorEncoderPulsePerRevolution = angleMotorEncoderPulsePerRevolution;
}