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Updated YAGSL

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thenetworkgrinch
2023-04-05 09:03:10 -05:00
parent b1689f3ec2
commit d37a38bb7b
112 changed files with 396 additions and 325 deletions
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125
swervelib/parser/SwerveDriveConfiguration.java
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@@ -7,73 +7,70 @@ import swervelib.imu.SwerveIMU;
/**
* Swerve drive configurations used during SwerveDrive construction.
*/
public class SwerveDriveConfiguration
{
public class SwerveDriveConfiguration {
/**
* Swerve Module locations.
*/
public Translation2d[] moduleLocationsMeters;
/**
* Swerve IMU
*/
public SwerveIMU imu;
/**
* Invert the imu measurements.
*/
public boolean invertedIMU = false;
/**
* Max speed in meters per second.
*/
public double maxSpeed;
/**
* Number of modules on the robot.
*/
public int moduleCount;
/**
* Swerve Modules.
*/
public SwerveModule[] modules;
/**
* Swerve Module locations.
*/
public Translation2d[] moduleLocationsMeters;
/**
* Swerve IMU
*/
public SwerveIMU imu;
/**
* Invert the imu measurements.
*/
public boolean invertedIMU = false;
/**
* Max module speed in meters per second.
*/
public double maxSpeed, attainableMaxTranslationalSpeedMetersPerSecond, attainableMaxRotationalVelocityRadiansPerSecond;
/**
* Number of modules on the robot.
*/
public int moduleCount;
/**
* Swerve Modules.
*/
public SwerveModule[] modules;
/**
* Create swerve drive configuration.
*
* @param moduleConfigs Module configuration.
* @param swerveIMU Swerve IMU.
* @param maxSpeed Max speed of the robot in meters per second.
* @param invertedIMU Invert the IMU.
*/
public SwerveDriveConfiguration(
SwerveModuleConfiguration[] moduleConfigs,
SwerveIMU swerveIMU,
double maxSpeed,
boolean invertedIMU)
{
this.moduleCount = moduleConfigs.length;
this.imu = swerveIMU;
this.maxSpeed = maxSpeed;
this.invertedIMU = invertedIMU;
this.modules = createModules(moduleConfigs);
this.moduleLocationsMeters = new Translation2d[moduleConfigs.length];
for (SwerveModule module : modules)
{
this.moduleLocationsMeters[module.moduleNumber] = module.configuration.moduleLocation;
/**
* Create swerve drive configuration.
*
* @param moduleConfigs Module configuration.
* @param swerveIMU Swerve IMU.
* @param maxSpeed Max speed of the robot in meters per second.
* @param invertedIMU Invert the IMU.
*/
public SwerveDriveConfiguration(
SwerveModuleConfiguration[] moduleConfigs,
SwerveIMU swerveIMU,
double maxSpeed,
boolean invertedIMU) {
this.moduleCount = moduleConfigs.length;
this.imu = swerveIMU;
this.maxSpeed = maxSpeed;
this.attainableMaxRotationalVelocityRadiansPerSecond = 0;
this.attainableMaxTranslationalSpeedMetersPerSecond = 0;
this.invertedIMU = invertedIMU;
this.modules = createModules(moduleConfigs);
this.moduleLocationsMeters = new Translation2d[moduleConfigs.length];
for (SwerveModule module : modules) {
this.moduleLocationsMeters[module.moduleNumber] = module.configuration.moduleLocation;
}
}
}
/**
* Create modules based off of the SwerveModuleConfiguration.
*
* @param swerves Swerve constants.
* @return Swerve Modules.
*/
public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves)
{
SwerveModule[] modArr = new SwerveModule[swerves.length];
for (int i = 0; i < swerves.length; i++)
{
modArr[i] = new SwerveModule(i, swerves[i]);
/**
* Create modules based off of the SwerveModuleConfiguration.
*
* @param swerves Swerve constants.
* @return Swerve Modules.
*/
public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves) {
SwerveModule[] modArr = new SwerveModule[swerves.length];
for (int i = 0; i < swerves.length; i++) {
modArr[i] = new SwerveModule(i, swerves[i]);
}
return modArr;
}
return modArr;
}
}