From dd7d432e90a924d6f13216fa33091880ad574e20 Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Wed, 22 Feb 2023 20:50:16 -0600 Subject: [PATCH] Updated YAGSL --- docs/allclasses-index.html | 4 +- docs/allpackages-index.html | 4 +- docs/constant-values.html | 4 +- docs/help-doc.html | 4 +- docs/index-files/index-1.html | 12 +- docs/index-files/index-10.html | 4 +- docs/index-files/index-11.html | 12 +- docs/index-files/index-12.html | 4 +- docs/index-files/index-13.html | 4 +- docs/index-files/index-14.html | 4 +- docs/index-files/index-15.html | 4 +- docs/index-files/index-16.html | 4 +- docs/index-files/index-17.html | 4 +- docs/index-files/index-18.html | 4 +- docs/index-files/index-19.html | 4 +- docs/index-files/index-2.html | 4 +- docs/index-files/index-20.html | 4 +- docs/index-files/index-21.html | 4 +- docs/index-files/index-22.html | 8 +- docs/index-files/index-23.html | 8 +- docs/index-files/index-24.html | 4 +- docs/index-files/index-25.html | 4 +- docs/index-files/index-3.html | 4 +- docs/index-files/index-4.html | 4 +- docs/index-files/index-5.html | 4 +- docs/index-files/index-6.html | 4 +- docs/index-files/index-7.html | 14 +- docs/index-files/index-8.html | 4 +- docs/index-files/index-9.html | 4 +- docs/index.html | 4 +- docs/member-search-index.js | 2 +- docs/overview-summary.html | 4 +- docs/overview-tree.html | 4 +- docs/swervelib/SwerveController.html | 167 +++++++++++++++--- docs/swervelib/SwerveDrive.html | 4 +- docs/swervelib/SwerveModule.html | 4 +- .../encoders/AnalogAbsoluteEncoderSwerve.html | 4 +- docs/swervelib/encoders/CANCoderSwerve.html | 4 +- .../encoders/SparkMaxEncoderSwerve.html | 4 +- .../encoders/SwerveAbsoluteEncoder.html | 4 +- docs/swervelib/encoders/package-summary.html | 4 +- docs/swervelib/encoders/package-tree.html | 4 +- docs/swervelib/imu/ADIS16448Swerve.html | 4 +- docs/swervelib/imu/ADIS16470Swerve.html | 4 +- docs/swervelib/imu/ADXRS450Swerve.html | 4 +- docs/swervelib/imu/AnalogGyroSwerve.html | 4 +- docs/swervelib/imu/NavXSwerve.html | 4 +- docs/swervelib/imu/Pigeon2Swerve.html | 4 +- docs/swervelib/imu/PigeonSwerve.html | 4 +- docs/swervelib/imu/SwerveIMU.html | 4 +- docs/swervelib/imu/package-summary.html | 4 +- docs/swervelib/imu/package-tree.html | 4 +- docs/swervelib/math/SwerveKinematics2.html | 4 +- docs/swervelib/math/SwerveMath.html | 4 +- docs/swervelib/math/SwerveModuleState2.html | 4 +- docs/swervelib/math/package-summary.html | 4 +- docs/swervelib/math/package-tree.html | 4 +- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 4 +- docs/swervelib/motors/SparkMaxSwerve.html | 4 +- docs/swervelib/motors/SwerveMotor.html | 4 +- docs/swervelib/motors/TalonFXSwerve.html | 4 +- docs/swervelib/motors/TalonSRXSwerve.html | 4 +- docs/swervelib/motors/package-summary.html | 4 +- docs/swervelib/motors/package-tree.html | 4 +- docs/swervelib/package-summary.html | 4 +- docs/swervelib/package-tree.html | 4 +- docs/swervelib/parser/PIDFConfig.html | 4 +- .../parser/SwerveControllerConfiguration.html | 4 +- .../parser/SwerveDriveConfiguration.html | 4 +- .../parser/SwerveModuleConfiguration.html | 4 +- .../SwerveModulePhysicalCharacteristics.html | 4 +- docs/swervelib/parser/SwerveParser.html | 4 +- .../parser/deserializer/PIDFRange.html | 4 +- .../parser/deserializer/package-summary.html | 4 +- .../parser/deserializer/package-tree.html | 4 +- .../parser/json/ControllerPropertiesJson.html | 4 +- docs/swervelib/parser/json/DeviceJson.html | 4 +- docs/swervelib/parser/json/ModuleJson.html | 4 +- .../parser/json/MotorConfigDouble.html | 4 +- .../swervelib/parser/json/MotorConfigInt.html | 4 +- .../parser/json/PIDFPropertiesJson.html | 4 +- .../parser/json/PhysicalPropertiesJson.html | 4 +- .../parser/json/SwerveDriveJson.html | 4 +- .../parser/json/modules/BoolMotorJson.html | 4 +- .../parser/json/modules/LocationJson.html | 4 +- .../parser/json/modules/package-summary.html | 4 +- .../parser/json/modules/package-tree.html | 4 +- .../parser/json/package-summary.html | 4 +- docs/swervelib/parser/json/package-tree.html | 4 +- docs/swervelib/parser/package-summary.html | 4 +- docs/swervelib/parser/package-tree.html | 4 +- .../simulation/SwerveIMUSimulation.html | 4 +- .../simulation/SwerveModuleSimulation.html | 4 +- .../ctre/PhysicsSim.SimProfile.html | 4 +- .../swervelib/simulation/ctre/PhysicsSim.html | 4 +- .../simulation/ctre/TalonFXSimProfile.html | 4 +- .../simulation/ctre/TalonSRXSimProfile.html | 4 +- .../simulation/ctre/VictorSPXSimProfile.html | 4 +- .../simulation/ctre/package-summary.html | 4 +- .../simulation/ctre/package-tree.html | 4 +- .../swervelib/simulation/package-summary.html | 4 +- docs/swervelib/simulation/package-tree.html | 4 +- .../telemetry/SwerveDriveTelemetry.html | 4 +- docs/swervelib/telemetry/package-summary.html | 4 +- docs/swervelib/telemetry/package-tree.html | 4 +- swervelib/SwerveController.java | 94 ++++++++-- swervelib/SwerveDrive.java | 28 ++- swervelib/SwerveModule.java | 4 +- swervelib/encoders/CANCoderSwerve.java | 1 + .../simulation/SwerveModuleSimulation.java | 5 +- swervelib/telemetry/SwerveDriveTelemetry.java | 26 +-- 111 files changed, 497 insertions(+), 276 deletions(-) diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index 2a35d14..12b82c8 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,11 +1,11 @@ - + All Classes and Interfaces - + diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 7923c76..77279b6 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,11 +1,11 @@ - + All Packages - + diff --git a/docs/constant-values.html b/docs/constant-values.html index 07c6d8e..920e859 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,11 +1,11 @@ - + Constant Field Values - + diff --git a/docs/help-doc.html b/docs/help-doc.html index 75caa58..4b56edb 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,11 +1,11 @@ - + API Help - + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index dc100f2..007e1cc 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,11 +1,11 @@ - + A-Index - + @@ -85,6 +85,10 @@ loadScripts(document, 'script');
Absolute encoder offset from 0 in degrees.
+
addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter) - Method in class swervelib.SwerveController
+
+
Add slew rate limiters to all controls.
+
addTalonFX(TalonFX, double, double) - Method in class swervelib.simulation.ctre.PhysicsSim
Adds a TalonFX controller to the simulator.
@@ -202,6 +206,10 @@ loadScripts(document, 'script');
Angle volt-meter-per-second.
+
angleLimiter - Variable in class swervelib.SwerveController
+
+
SlewRateLimiter for angular movement in radians/second.
+
angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
The drive motor and angle motor of this swerve module.
diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index e7f0c5f..136fdaf 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,11 +1,11 @@ - + K-Index - + diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 5d2db10..7108631 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + @@ -53,14 +53,14 @@ loadScripts(document, 'script'); A B C D E F G H I K L M N O P R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values

L

-
lastAngle - Variable in class swervelib.SwerveController
-
-
Last angle to robot was set to.
-
lastAngle - Variable in class swervelib.SwerveModule
Last angle set for the swerve module.
+
lastAngleScalar - Variable in class swervelib.SwerveController
+
+
Last angle as a scalar [-1,1] the robot was set to.
+
lastTime - Variable in class swervelib.simulation.SwerveIMUSimulation
The last time the timer was read, used to determine position changes.
diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index cd5463d..a83914b 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,11 +1,11 @@ - + M-Index - + diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 11a1e06..10f17fd 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,11 +1,11 @@ - + N-Index - + diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index 399d452..6e34757 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 5437d6c..4670628 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 71bcb32..cb8d8f5 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + R-Index - + diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 5f63ed8..9a3ea39 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + S-Index - + diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 65346a7..2661d61 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + T-Index - + diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index abdb7b0..a01c031 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + U-Index - + diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 6dc2025..1de9bbb 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,11 +1,11 @@ - + B-Index - + diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 3a6b9ff..a5f04a3 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + V-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index f965094..1f82953 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + W-Index - + diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index cc46f39..cb6d70a 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + X-Index - + @@ -57,6 +57,10 @@ loadScripts(document, 'script');
Location of the swerve module in inches from the center of the robot horizontally.
+
xLimiter - Variable in class swervelib.SwerveController
+
+
SlewRateLimiter for movement in the X direction in meters/second.
+
A B C D E F G H I K L M N O P R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index bff6e5c..6d179b6 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + Y-Index - + @@ -77,6 +77,10 @@ loadScripts(document, 'script');
Offset for the NavX yaw reading.
+
yLimiter - Variable in class swervelib.SwerveController
+
+
SlewRateLimiter for movement in the Y direction in meters/second.
+
A B C D E F G H I K L M N O P R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index 0cfe64a..1b71d92 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index e43355b..79cd974 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + _-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 9424c93..90c316e 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,11 +1,11 @@ - + C-Index - + diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 931142b..aebfe9f 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,11 +1,11 @@ - + D-Index - + diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 8e37965..add50ee 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index d453fdd..e083d95 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,11 +1,11 @@ - + F-Index - + diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index eb04394..3c5a62c 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + @@ -217,6 +217,14 @@ loadScripts(document, 'script');
Get the raw position.
+
getRawTargetSpeeds(double, double, double) - Method in class swervelib.SwerveController
+
+
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
+
+
getRawTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
+
+
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
+
getRelativePosition() - Method in class swervelib.SwerveModule
Get the relative angle in degrees.
@@ -255,7 +263,7 @@ loadScripts(document, 'script');
getTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
-
Get the chassis speeds based on controller input of 1 joystick and a angle.
+
Get the chassis speeds based on controller input of 1 joystick and an angle.
getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index 9b15e98..2206c90 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,11 +1,11 @@ - + H-Index - + diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index bf880e5..35f42a3 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,11 +1,11 @@ - + I-Index - + diff --git a/docs/index.html b/docs/index.html index 7c7817f..0aaed5b 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,11 +1,11 @@ - + Overview - + diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 88c3c35..63427d4 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = [{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_accelToFullTime"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_accelToFullTime"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_falcon"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_fullVel"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_fullVel"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"_lastTime"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"_running"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_sensorPhase"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_sensorPhase"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"_simProfiles"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_talon"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_vel"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_vel"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"_victor"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"absoluteEncoder"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoder"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderInverted"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoderInverted"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderOffset"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonFX(TalonFX, double, double)","u":"addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonFX(TalonFX, double, double, boolean)","u":"addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonSRX(TalonSRX, double, double)","u":"addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonSRX(TalonSRX, double, double, boolean)","u":"addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addVictorSPX(VictorSPX)","u":"addVictorSPX(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double, boolean)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"ADIS16448Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"ADIS16470Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"ADXRS450Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(AnalogInput)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.AnalogInput)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"AnalogGyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"angle"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angle"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"angle"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"angle"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"angle"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleEncoderPulsePerRotation"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleGearRatio"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"angleJoystickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"angleJoyStickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleKV"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotor"},{"p":"swervelib","c":"SwerveModule","l":"angleMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorCurrentLimit"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorRampRate"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleOffset"},{"p":"swervelib","c":"SwerveModule","l":"angleOffset"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"anglePIDF"},{"p":"swervelib.math","c":"SwerveMath","l":"applyDeadband(double, 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Field2d)","u":"updateOdometry(swervelib.math.SwerveKinematics2,swervelib.math.SwerveModuleState2[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"updateStateAndPosition(SwerveModuleState2)","u":"updateStateAndPosition(swervelib.math.SwerveModuleState2)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"VictorSPXSimProfile(VictorSPX)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelDiameter"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelDiameter"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"wheelLocations"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib","c":"SwerveController","l":"xLimiter"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"yawOffset"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"yawOffset"},{"p":"swervelib.imu","c":"NavXSwerve","l":"yawOffset"},{"p":"swervelib","c":"SwerveController","l":"yLimiter"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index 9ab0be9..b227f89 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,11 +1,11 @@ - + Generated Documentation (Untitled) - + diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 5819ebc..a01a98c 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,11 +1,11 @@ - + Class Hierarchy - + diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index b18c04b..6aba183 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + @@ -91,22 +91,37 @@ loadScripts(document, 'script');
Modifier and Type
Field
Description
-
final SwerveControllerConfiguration
-
config
+
edu.wpi.first.math.filter.SlewRateLimiter
+
angleLimiter
+
SlewRateLimiter for angular movement in radians/second.
+
+
final SwerveControllerConfiguration
+
config
+
SwerveControllerConfiguration object storing data to generate the PIDController for controlling the robot heading, and deadband for heading joystick.
-
double
-
lastAngle
-
-
Last angle to robot was set to.
-
-
private final edu.wpi.first.math.controller.PIDController
-
thetaController
+
double
+
lastAngleScalar
+
Last angle as a scalar [-1,1] the robot was set to.
+
+
private final edu.wpi.first.math.controller.PIDController
+
thetaController
+
PID Controller for the robot heading.
+
edu.wpi.first.math.filter.SlewRateLimiter
+
xLimiter
+
+
SlewRateLimiter for movement in the X direction in meters/second.
+
+
edu.wpi.first.math.filter.SlewRateLimiter
+
yLimiter
+
+
SlewRateLimiter for movement in the Y direction in meters/second.
+
@@ -137,32 +152,54 @@ loadScripts(document, 'script');
Modifier and Type
Method
Description
+
void
+
addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter x, + edu.wpi.first.math.filter.SlewRateLimiter y, + edu.wpi.first.math.filter.SlewRateLimiter angle)
+
+
Add slew rate limiters to all controls.
+
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getRawTargetSpeeds(double xSpeed, + double ySpeed, + double omega)
+
+
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
+
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getTargetSpeeds(double xInput, +
getRawTargetSpeeds(double xSpeed, + double ySpeed, + double targetHeadingAngleRadians, + double currentHeadingAngleRadians)
+
+
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
+
+
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getTargetSpeeds(double xInput, double yInput, double angle, double currentHeadingAngleRadians)
-
-
Get the chassis speeds based on controller input of 1 joystick and a angle.
+
+
Get the chassis speeds based on controller input of 1 joystick and an angle.
-
edu.wpi.first.math.kinematics.ChassisSpeeds
-
getTargetSpeeds(double xInput, +
edu.wpi.first.math.kinematics.ChassisSpeeds
+
getTargetSpeeds(double xInput, double yInput, double headingX, double headingY, double currentHeadingAngleRadians)
-
+
Get the chassis speeds based on controller input of 2 joysticks.
-
static edu.wpi.first.math.geometry.Translation2d
-
getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
-
+
static edu.wpi.first.math.geometry.Translation2d
+
getTranslation2d(edu.wpi.first.math.kinematics.ChassisSpeeds speeds)
+
Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
-
boolean
-
withinHypotDeadband(double x, +
boolean
+
withinHypotDeadband(double x, double y)
-
+
Calculate the hypot deadband and check if the joystick is within it.
@@ -198,10 +235,31 @@ loadScripts(document, 'script');
  • -
    -

    lastAngle

    -
    public double lastAngle
    -
    Last angle to robot was set to.
    +
    +

    lastAngleScalar

    +
    public double lastAngleScalar
    +
    Last angle as a scalar [-1,1] the robot was set to.
    +
    +
    • +
  • +
    +

    xLimiter

    +
    public edu.wpi.first.math.filter.SlewRateLimiter xLimiter
    +
    SlewRateLimiter for movement in the X direction in meters/second.
    +
    +
    • +
  • +
    +

    yLimiter

    +
    public edu.wpi.first.math.filter.SlewRateLimiter yLimiter
    +
    SlewRateLimiter for movement in the Y direction in meters/second.
    +
    +
    • +
  • +
    +

    angleLimiter

    +
    public edu.wpi.first.math.filter.SlewRateLimiter angleLimiter
    +
    SlewRateLimiter for angular movement in radians/second.
    • @@ -246,6 +304,22 @@ loadScripts(document, 'script');
  • +
    +

    addSlewRateLimiters

    +
    public void addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter x, + edu.wpi.first.math.filter.SlewRateLimiter y, + edu.wpi.first.math.filter.SlewRateLimiter angle)
    +
    Add slew rate limiters to all controls. This prevents the robot from ramping up too much. To disable a + SlewRateLimiter set the desired one to null.
    +
    +
    Parameters:
    +
    x - The SlewRateLimiter for the X velocity in meters/second.
    +
    y - The SlewRateLimiter for the Y velocity in meters/second.
    +
    angle - The SlewRateLimiter for the angular velocity in radians/second.
    +
    +
    +
    • +

  • withinHypotDeadband

    public boolean withinHypotDeadband(double x, @@ -268,7 +342,8 @@ loadScripts(document, 'script'); double yInput, double angle, double currentHeadingAngleRadians)
    -
    Get the chassis speeds based on controller input of 1 joystick and a angle.
    +
    Get the chassis speeds based on controller input of 1 joystick and an angle. Cubes the x and y input for smoother + motion.
    Parameters:
    xInput - X joystick input for the robot to move in the X direction.
    @@ -302,6 +377,42 @@ loadScripts(document, 'script');
    • +
  • +
    +

    getRawTargetSpeeds

    +
    public edu.wpi.first.math.kinematics.ChassisSpeeds getRawTargetSpeeds(double xSpeed, + double ySpeed, + double omega)
    +
    Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
    +
    +
    Parameters:
    +
    xSpeed - X speed in meters per second.
    +
    ySpeed - Y speed in meters per second.
    +
    omega - Angular velocity in radians/second.
    +
    Returns:
    +
    ChassisSpeeds the robot should move to.
    +
    +
    +
    • +
  • +
    +

    getRawTargetSpeeds

    +
    public edu.wpi.first.math.kinematics.ChassisSpeeds getRawTargetSpeeds(double xSpeed, + double ySpeed, + double targetHeadingAngleRadians, + double currentHeadingAngleRadians)
    +
    Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
    +
    +
    Parameters:
    +
    xSpeed - X speed in meters per second.
    +
    ySpeed - Y speed in meters per second.
    +
    targetHeadingAngleRadians - Target heading in radians.
    +
    currentHeadingAngleRadians - Current heading in radians.
    +
    Returns:
    +
    ChassisSpeeds the robot should move to.
    +
    +
    +
    • diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 0c79b40..8fce30e 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index f07b2fa..5495daa 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,11 +1,11 @@ - + SwerveModule - + diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index 6fbe63d..6833183 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,11 +1,11 @@ - + AnalogAbsoluteEncoderSwerve - + diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index 0749a1d..c0e1d13 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,11 +1,11 @@ - + CANCoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 775be1c..59aae78 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxEncoderSwerve - + diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index 071e141..d6b1f22 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,11 +1,11 @@ - + SwerveAbsoluteEncoder - + diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index 1412376..113cca5 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.encoders - + diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index 5840dff..f0d213f 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.encoders Class Hierarchy - + diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 6f5729d..75f58ea 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,11 +1,11 @@ - + ADIS16448Swerve - + diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index 3778ea8..01e7259 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,11 +1,11 @@ - + ADIS16470Swerve - + diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index 1be3372..bf4f914 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,11 +1,11 @@ - + ADXRS450Swerve - + diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index a9cd30e..8d56900 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,11 +1,11 @@ - + AnalogGyroSwerve - + diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index 9b04fac..af2700a 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,11 +1,11 @@ - + NavXSwerve - + diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index 3177d83..26d62a8 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,11 +1,11 @@ - + Pigeon2Swerve - + diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index 92e64df..64fd9a2 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,11 +1,11 @@ - + PigeonSwerve - + diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index 7186359..ef06c50 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,11 +1,11 @@ - + SwerveIMU - + diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index 307c0f1..3fab9b5 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.imu - + diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index 846475c..5b25794 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.imu Class Hierarchy - + diff --git a/docs/swervelib/math/SwerveKinematics2.html b/docs/swervelib/math/SwerveKinematics2.html index 2fe502d..c8278f2 100644 --- a/docs/swervelib/math/SwerveKinematics2.html +++ b/docs/swervelib/math/SwerveKinematics2.html @@ -1,11 +1,11 @@ - + SwerveKinematics2 - + diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index 868c5af..97c00c7 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,11 +1,11 @@ - + SwerveMath - + diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html index a40dbf8..2a7b835 100644 --- a/docs/swervelib/math/SwerveModuleState2.html +++ b/docs/swervelib/math/SwerveModuleState2.html @@ -1,11 +1,11 @@ - + SwerveModuleState2 - + diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index a0b7605..1508889 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.math - + diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 89ab220..fa21d79 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.math Class Hierarchy - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index bbcf1e0..1d0a839 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index 1b5640d..2f1a6bc 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve - + diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index 3c8566d..c4bbcfa 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,11 +1,11 @@ - + SwerveMotor - + diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index 021442e..f42a0b7 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,11 +1,11 @@ - + TalonFXSwerve - + diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index b5862ad..610e722 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,11 +1,11 @@ - + TalonSRXSwerve - + diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index f326f3a..76ca196 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.motors - + diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index f34f892..c589e28 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.motors Class Hierarchy - + diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index 61a0c79..87c22c3 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,11 +1,11 @@ - + swervelib - + diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index d2bfb76..9c4140d 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,11 +1,11 @@ - + swervelib Class Hierarchy - + diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index bf2aa69..4d7e488 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,11 +1,11 @@ - + PIDFConfig - + diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 49ba379..1df96c5 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,11 +1,11 @@ - + SwerveControllerConfiguration - + diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index 4872413..1edb502 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,11 +1,11 @@ - + SwerveDriveConfiguration - + diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index 935c243..51a8ebb 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,11 +1,11 @@ - + SwerveModuleConfiguration - + diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 29ccadb..ff8d944 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,11 +1,11 @@ - + SwerveModulePhysicalCharacteristics - + diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index 92dba59..d93cfdf 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,11 +1,11 @@ - + SwerveParser - + diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 2e1309f..c73a9f7 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,11 +1,11 @@ - + PIDFRange - + diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index c11566e..fb1dcb4 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer - + diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index b8f6700..8003c94 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer Class Hierarchy - + diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index 891bc81..f46dc24 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,11 +1,11 @@ - + ControllerPropertiesJson - + diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index 8544fac..65a8bb0 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,11 +1,11 @@ - + DeviceJson - + diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index 7b4eeb7..ca2cf44 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,11 +1,11 @@ - + ModuleJson - + diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index 57eafaa..051a4b5 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,11 +1,11 @@ - + MotorConfigDouble - + diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index 6adbd2a..5aec402 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,11 +1,11 @@ - + MotorConfigInt - + diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index 0bd8c8d..d6e50cf 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,11 +1,11 @@ - + PIDFPropertiesJson - + diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index 4aa410d..d2b4c76 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,11 +1,11 @@ - + PhysicalPropertiesJson - + diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 08a169b..2b4ab58 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,11 +1,11 @@ - + SwerveDriveJson - + diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index 0aa76c4..0694a1d 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,11 +1,11 @@ - + BoolMotorJson - + diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index c4b2e45..a7b1553 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,11 +1,11 @@ - + LocationJson - + diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index dc87621..15fd80a 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules - + diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index 3188b8c..95e8c1e 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules Class Hierarchy - + diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index b5d634f..1665431 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json - + diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 0393638..79b055f 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json Class Hierarchy - + diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index 4977adc..b9fc596 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser - + diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index fbe29db..6273e35 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser Class Hierarchy - + diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index 19cd2ad..ac00a1d 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,11 +1,11 @@ - + SwerveIMUSimulation - + diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index ad3be37..357d4ef 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,11 +1,11 @@ - + SwerveModuleSimulation - + diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html index 1a9d5a8..681c631 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html @@ -1,11 +1,11 @@ - + PhysicsSim.SimProfile - + diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html index 1b05d25..b4d85bd 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.html @@ -1,11 +1,11 @@ - + PhysicsSim - + diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html index 8087de0..49618e9 100644 --- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html @@ -1,11 +1,11 @@ - + TalonFXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html index 7412928..e89a785 100644 --- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html @@ -1,11 +1,11 @@ - + TalonSRXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html index 22ceea3..4d7c650 100644 --- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html +++ b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html @@ -1,11 +1,11 @@ - + VictorSPXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html index 13b7327..d31ed28 100644 --- a/docs/swervelib/simulation/ctre/package-summary.html +++ b/docs/swervelib/simulation/ctre/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation.ctre - + diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html index f43b0d4..cef3afa 100644 --- a/docs/swervelib/simulation/ctre/package-tree.html +++ b/docs/swervelib/simulation/ctre/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation.ctre Class Hierarchy - + diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 751cd33..e7eec23 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation - + diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 38c3ee2..8d43abc 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation Class Hierarchy - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index 99da4f4..192af42 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry - + diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index e4f7931..3d49355 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.telemetry - + diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index 4a71e83..5b3d3d8 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.telemetry Class Hierarchy - + diff --git a/swervelib/SwerveController.java b/swervelib/SwerveController.java index d9309e5..f8c4be8 100644 --- a/swervelib/SwerveController.java +++ b/swervelib/SwerveController.java @@ -1,6 +1,7 @@ package swervelib; import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.filter.SlewRateLimiter; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import swervelib.parser.SwerveControllerConfiguration; @@ -21,9 +22,21 @@ public class SwerveController */ private final PIDController thetaController; // TODO: Switch to ProfilePIDController /** - * Last angle to robot was set to. + * Last angle as a scalar [-1,1] the robot was set to. */ - public double lastAngle; + public double lastAngleScalar; + /** + * {@link SlewRateLimiter} for movement in the X direction in meters/second. + */ + public SlewRateLimiter xLimiter = null; + /** + * {@link SlewRateLimiter} for movement in the Y direction in meters/second. + */ + public SlewRateLimiter yLimiter = null; + /** + * {@link SlewRateLimiter} for angular movement in radians/second. + */ + public SlewRateLimiter angleLimiter = null; /** * Construct the SwerveController object which is used for determining the speeds of the robot based on controller @@ -36,7 +49,7 @@ public class SwerveController config = cfg; thetaController = config.headingPIDF.createPIDController(); thetaController.enableContinuousInput(-Math.PI, Math.PI); - lastAngle = 0; + lastAngleScalar = 0; } /** @@ -50,6 +63,21 @@ public class SwerveController return new Translation2d(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond); } + /** + * Add slew rate limiters to all controls. This prevents the robot from ramping up too much. To disable a + * {@link SlewRateLimiter} set the desired one to null. + * + * @param x The {@link SlewRateLimiter} for the X velocity in meters/second. + * @param y The {@link SlewRateLimiter} for the Y velocity in meters/second. + * @param angle The {@link SlewRateLimiter} for the angular velocity in radians/second. + */ + public void addSlewRateLimiters(SlewRateLimiter x, SlewRateLimiter y, SlewRateLimiter angle) + { + xLimiter = x; + yLimiter = y; + angleLimiter = angle; + } + /** * Calculate the hypot deadband and check if the joystick is within it. * @@ -64,7 +92,8 @@ public class SwerveController } /** - * Get the chassis speeds based on controller input of 1 joystick and a angle. + * Get the chassis speeds based on controller input of 1 joystick and an angle. Cubes the x and y input for smoother + * motion. * * @param xInput X joystick input for the robot to move in the X direction. * @param yInput Y joystick input for the robot to move in the Y direction. @@ -75,17 +104,12 @@ public class SwerveController public ChassisSpeeds getTargetSpeeds( double xInput, double yInput, double angle, double currentHeadingAngleRadians) { - // Calculates an angular rate using a PIDController and the commanded angle. This is then - // scaled by - // the drivebase's maximum angular velocity. - double omega = - thetaController.calculate(currentHeadingAngleRadians, angle) * config.maxAngularVelocity; // Convert joystick inputs to m/s by scaling by max linear speed. Also uses a cubic function // to allow for precise control and fast movement. double x = Math.pow(xInput, 3) * config.maxSpeed; double y = Math.pow(yInput, 3) * config.maxSpeed; - return new ChassisSpeeds(x, y, omega); + return getRawTargetSpeeds(x, y, angle, currentHeadingAngleRadians); } /** @@ -112,12 +136,58 @@ public class SwerveController // joystick input (hold // position when stick released). double angle = - withinHypotDeadband(headingX, headingY) ? lastAngle : Math.atan2(headingX, headingY); + withinHypotDeadband(headingX, headingY) ? lastAngleScalar : Math.atan2(headingX, headingY); ChassisSpeeds speeds = getTargetSpeeds(xInput, yInput, angle, currentHeadingAngleRadians); // Used for the position hold feature - lastAngle = angle; + lastAngleScalar = angle; return speeds; } + + /** + * Get the {@link ChassisSpeeds} based of raw speeds desired in meters/second and heading in radians. + * + * @param xSpeed X speed in meters per second. + * @param ySpeed Y speed in meters per second. + * @param omega Angular velocity in radians/second. + * @return {@link ChassisSpeeds} the robot should move to. + */ + public ChassisSpeeds getRawTargetSpeeds(double xSpeed, double ySpeed, double omega) + { + if (xLimiter != null) + { + xSpeed = xLimiter.calculate(xSpeed); + } + if (yLimiter != null) + { + ySpeed = yLimiter.calculate(ySpeed); + } + if (angleLimiter != null) + { + omega = angleLimiter.calculate(omega); + } + + return new ChassisSpeeds(xSpeed, ySpeed, omega); + } + + /** + * Get the {@link ChassisSpeeds} based of raw speeds desired in meters/second and heading in radians. + * + * @param xSpeed X speed in meters per second. + * @param ySpeed Y speed in meters per second. + * @param targetHeadingAngleRadians Target heading in radians. + * @param currentHeadingAngleRadians Current heading in radians. + * @return {@link ChassisSpeeds} the robot should move to. + */ + public ChassisSpeeds getRawTargetSpeeds(double xSpeed, double ySpeed, double targetHeadingAngleRadians, + double currentHeadingAngleRadians) + { + // Calculates an angular rate using a PIDController and the commanded angle. Returns a value between -1 and 1 + // which is then scaled to be between -maxAngularVelocity and +maxAngularVelocity. + return getRawTargetSpeeds(xSpeed, ySpeed, + thetaController.calculate(currentHeadingAngleRadians, targetHeadingAngleRadians) * + config.maxAngularVelocity); + } + } diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java index 1d5c646..1bc6a8f 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -122,11 +122,21 @@ public class SwerveDrive SwerveDriveTelemetry.maxSpeed = swerveDriveConfiguration.maxSpeed; SwerveDriveTelemetry.maxAngularVelocity = swerveController.config.maxAngularVelocity; SwerveDriveTelemetry.moduleCount = swerveModules.length; - SwerveDriveTelemetry.sizeLeftRight = SwerveMath.getSwerveModule(swerveModules, true, false).moduleLocation.getX() - - SwerveMath.getSwerveModule(swerveModules, false, false).moduleLocation.getX(); - SwerveDriveTelemetry.sizeFrontBack = SwerveMath.getSwerveModule(swerveModules, false, true).moduleLocation.getY() - - SwerveMath.getSwerveModule(swerveModules, false, false).moduleLocation.getY(); + SwerveDriveTelemetry.sizeFrontBack = (SwerveMath.getSwerveModule(swerveModules, true, false).moduleLocation.getX() + + SwerveMath.getSwerveModule(swerveModules, + false, + false).moduleLocation.getX()) / 2; + SwerveDriveTelemetry.sizeLeftRight = (SwerveMath.getSwerveModule(swerveModules, false, true).moduleLocation.getY() + + SwerveMath.getSwerveModule(swerveModules, + false, + false).moduleLocation.getY()) / 2; SwerveDriveTelemetry.wheelLocations = new double[SwerveDriveTelemetry.moduleCount * 2]; + for (SwerveModule module : swerveModules) + { + SwerveDriveTelemetry.wheelLocations[module.moduleNumber * 2] = module.configuration.moduleLocation.getX() / 2; + SwerveDriveTelemetry.wheelLocations[(module.moduleNumber * 2) + 1] = + module.configuration.moduleLocation.getY() / 2; + } SwerveDriveTelemetry.measuredStates = new double[SwerveDriveTelemetry.moduleCount * 2]; SwerveDriveTelemetry.desiredStates = new double[SwerveDriveTelemetry.moduleCount * 2]; // TODO: Might need to flip X and Y. @@ -184,6 +194,10 @@ public class SwerveDrive // Sets states for (SwerveModule module : swerveModules) { + SwerveModuleState2 moduleState = module.getState(); + SwerveDriveTelemetry.desiredStates[module.moduleNumber * 2] = moduleState.angle.getDegrees(); + SwerveDriveTelemetry.desiredStates[(module.moduleNumber * 2) + 1] = moduleState.speedMetersPerSecond; + module.setDesiredState(desiredStates[module.moduleNumber], isOpenLoop); SmartDashboard.putNumber( "Module " + module.moduleNumber + " Speed Setpoint: ", @@ -306,7 +320,7 @@ public class SwerveDrive { simIMU.setAngle(0); } - swerveController.lastAngle = 0; + swerveController.lastAngleScalar = 0; resetOdometry(new Pose2d(getPose().getTranslation(), new Rotation2d())); } @@ -469,7 +483,7 @@ public class SwerveDrive } field.setRobotPose(swerveDrivePoseEstimator.getEstimatedPosition()); - ChassisSpeeds measuredChassisSpeeds = kinematics.toChassisSpeeds(getStates()); + ChassisSpeeds measuredChassisSpeeds = getRobotVelocity(); SwerveDriveTelemetry.measuredChassisSpeeds[1] = measuredChassisSpeeds.vyMetersPerSecond; SwerveDriveTelemetry.measuredChassisSpeeds[0] = measuredChassisSpeeds.vxMetersPerSecond; SwerveDriveTelemetry.measuredChassisSpeeds[2] = Math.toDegrees(measuredChassisSpeeds.omegaRadiansPerSecond); @@ -481,8 +495,6 @@ public class SwerveDrive SwerveModuleState2 moduleState = module.getState(); SwerveDriveTelemetry.measuredStates[module.moduleNumber * 2] = moduleState.angle.getDegrees(); SwerveDriveTelemetry.measuredStates[(module.moduleNumber * 2) + 1] = moduleState.speedMetersPerSecond; - SwerveDriveTelemetry.wheelLocations[module.moduleNumber * 2] = modulePoses[module.moduleNumber].getX(); - SwerveDriveTelemetry.wheelLocations[(module.moduleNumber * 2) + 1] = modulePoses[module.moduleNumber].getY(); sumOmega += Math.abs(moduleState.omegaRadPerSecond); diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index 82adebb..e6722ef 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -90,12 +90,12 @@ public class SwerveModule { absoluteEncoder.factoryDefault(); absoluteEncoder.configure(moduleConfiguration.absoluteEncoderInverted); - angleMotor.setPosition(absoluteEncoder.getAbsolutePosition() - angleOffset); + angleMotor.setPosition(getAbsolutePosition() - angleOffset); } // Config angle motor/controller angleMotor.configureIntegratedEncoder( - moduleConfiguration.getPositionEncoderConversion(false)); + moduleConfiguration.getPositionEncoderConversion(false)); angleMotor.configurePIDF(moduleConfiguration.anglePIDF); angleMotor.configurePIDWrapping(-180, 180); angleMotor.setInverted(moduleConfiguration.angleMotorInverted); diff --git a/swervelib/encoders/CANCoderSwerve.java b/swervelib/encoders/CANCoderSwerve.java index 23e937a..b5abf4f 100644 --- a/swervelib/encoders/CANCoderSwerve.java +++ b/swervelib/encoders/CANCoderSwerve.java @@ -95,6 +95,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder if (strength == MagnetFieldStrength.Invalid_Unknown || strength == MagnetFieldStrength.BadRange_RedLED) { readingError = true; + DriverStation.reportWarning("CANCoder " + encoder.getDeviceID() + " reading was faulty.\n", false); return 0; } double angle = encoder.getAbsolutePosition(); diff --git a/swervelib/simulation/SwerveModuleSimulation.java b/swervelib/simulation/SwerveModuleSimulation.java index d34f6a6..fab142e 100644 --- a/swervelib/simulation/SwerveModuleSimulation.java +++ b/swervelib/simulation/SwerveModuleSimulation.java @@ -11,6 +11,7 @@ import swervelib.math.SwerveModuleState2; public class SwerveModuleSimulation { + /** * Main timer to simulate the passage of time. */ @@ -59,11 +60,12 @@ public class SwerveModuleSimulation public void updateStateAndPosition(SwerveModuleState2 desiredState) { dt = timer.get() - lastTime; - fakePos += (fakeSpeed * dt); lastTime = timer.get(); state = desiredState; fakeSpeed = desiredState.speedMetersPerSecond; + fakePos += (fakeSpeed * dt); + } /** @@ -73,6 +75,7 @@ public class SwerveModuleSimulation */ public SwerveModulePosition getPosition() { + return new SwerveModulePosition( fakePos, state.angle.plus(new Rotation2d(state.omegaRadPerSecond * dt))); } diff --git a/swervelib/telemetry/SwerveDriveTelemetry.java b/swervelib/telemetry/SwerveDriveTelemetry.java index 44d5e5d..c5ed414 100644 --- a/swervelib/telemetry/SwerveDriveTelemetry.java +++ b/swervelib/telemetry/SwerveDriveTelemetry.java @@ -69,18 +69,18 @@ public class SwerveDriveTelemetry */ public static void updateData() { - SmartDashboard.putNumber("/swerve/moduleCount", moduleCount); - SmartDashboard.putNumberArray("/swerve/wheelLocations", wheelLocations); - SmartDashboard.putNumberArray("/swerve/measuredStates", measuredStates); - SmartDashboard.putNumberArray("/swerve/desiredStates", desiredStates); - SmartDashboard.putNumber("/swerve/robotRotation", robotRotation); - SmartDashboard.putNumber("/swerve/maxSpeed", maxSpeed); - SmartDashboard.putString("/swerve/rotationUnit", rotationUnit); - SmartDashboard.putNumber("/swerve/sizeLeftRight", sizeLeftRight); - SmartDashboard.putNumber("/swerve/sizeFrontBack", sizeFrontBack); - SmartDashboard.putString("/swerve/forwardDirection", forwardDirection); - SmartDashboard.putNumber("/swerve/maxAngularVelocity", maxAngularVelocity); - SmartDashboard.putNumberArray("/swerve/measuredChassisSpeeds", measuredChassisSpeeds); - SmartDashboard.putNumberArray("/swerve/desiredChassisSpeeds", desiredChassisSpeeds); + SmartDashboard.putNumber("swerve/moduleCount", moduleCount); + SmartDashboard.putNumberArray("swerve/wheelLocations", wheelLocations); + SmartDashboard.putNumberArray("swerve/measuredStates", measuredStates); + SmartDashboard.putNumberArray("swerve/desiredStates", desiredStates); + SmartDashboard.putNumber("swerve/robotRotation", robotRotation); + SmartDashboard.putNumber("swerve/maxSpeed", maxSpeed); + SmartDashboard.putString("swerve/rotationUnit", rotationUnit); + SmartDashboard.putNumber("swerve/sizeLeftRight", sizeLeftRight); + SmartDashboard.putNumber("swerve/sizeFrontBack", sizeFrontBack); + SmartDashboard.putString("swerve/forwardDirection", forwardDirection); + SmartDashboard.putNumber("swerve/maxAngularVelocity", maxAngularVelocity); + SmartDashboard.putNumberArray("swerve/measuredChassisSpeeds", measuredChassisSpeeds); + SmartDashboard.putNumberArray("swerve/desiredChassisSpeeds", desiredChassisSpeeds); } }