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Updated documentation. Fixed setChassisSpeeds

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thenetworkgrinch
2023-02-15 00:08:44 -06:00
parent 95b089960b
commit e4436b5ed2
89 changed files with 238 additions and 208 deletions
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<dd>
<div class="block">The position conversion factor.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory(Trajectory)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Post the trajectory to the field</div>
</dd>
<dt><a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html#PRIMARY_PID" class="member-name-link">PRIMARY_PID</a> - Enum constant in enum class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.CTRE_pidIdx.html" title="enum class in swervelib.motors">TalonSRXSwerve.CTRE_pidIdx</a></dt>
<dd>
<div class="block">Primary PID for talons.</div>

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</dd>
<dt><a href="../swervelib/SwerveDrive.html#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds(ChassisSpeeds)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Set field-relative chassis speeds with closed-loop velocity control.</div>
<div class="block">Set chassis speeds with closed-loop velocity control.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxSwerve.html#setCurrentLimit(int)" class="member-name-link">setCurrentLimit(int)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxSwerve.html" title="class in swervelib.motors">SparkMaxSwerve</a></dt>
<dd>

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<meta name="dc.created" content="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="index redirect">
<meta name="generator" content="javadoc/IndexRedirectWriter">
<link rel="canonical" href="index.html">

4
docs/overview-tree.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>Class Hierarchy</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="class tree">
<meta name="generator" content="javadoc/TreeWriter">
<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">

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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>SwerveController</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib, class: SwerveController">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

74
docs/swervelib/SwerveDrive.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>SwerveDrive</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -237,49 +237,54 @@ loadScripts(document, 'script');</script>
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Post the trajectory to the field</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;feedforward)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Setup the swerve module feedforward.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d&nbsp;pose)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Resets odometry to the given pose.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set field-relative chassis speeds with closed-loop velocity control.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDriveBrake()" class="member-name-link">setDriveBrake</a>()</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set chassis speeds with closed-loop velocity control.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setDriveBrake()" class="member-name-link">setDriveBrake</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]&nbsp;desiredStates,
boolean&nbsp;isOpenLoop)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the module states (azimuth and velocity) directly.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorIdleMode(boolean)" class="member-name-link">setMotorIdleMode</a><wbr>(boolean&nbsp;brake)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorIdleMode(boolean)" class="member-name-link">setMotorIdleMode</a><wbr>(boolean&nbsp;brake)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Sets the drive motors to brake/coast mode.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Synchronize angle motor integrated encoders with data from absolute encoders.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry()" class="member-name-link">updateOdometry</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry()" class="member-name-link">updateOdometry</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Update odometry should be run every loop.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#zeroGyro()" class="member-name-link">zeroGyro</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#zeroGyro()" class="member-name-link">zeroGyro</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
</div>
</div>
@@ -443,10 +448,10 @@ loadScripts(document, 'script');</script>
<section class="detail" id="setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)">
<h3>setChassisSpeeds</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setChassisSpeeds</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</span></div>
<div class="block">Set field-relative chassis speeds with closed-loop velocity control.</div>
<div class="block">Set chassis speeds with closed-loop velocity control.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>chassisSpeeds</code> - Field-relative.</dd>
<dd><code>chassisSpeeds</code> - Chassis speeds to set.</dd>
</dl>
</section>
</li>
@@ -497,6 +502,17 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="postTrajectory(edu.wpi.first.math.trajectory.Trajectory)">
<h3>postTrajectory</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">postTrajectory</span><wbr><span class="parameters">(edu.wpi.first.math.trajectory.Trajectory&nbsp;trajectory)</span></div>
<div class="block">Post the trajectory to the field</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>trajectory</code> - the trajectory to post.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getStates()">
<h3>getStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">getStates</span>()</div>

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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>SwerveModule</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">

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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>CANCoderSwerve</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib.encoders, class: CANCoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>SparkMaxEncoderSwerve</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>SwerveAbsoluteEncoder</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib.encoders, class: SwerveAbsoluteEncoder">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>swervelib.encoders</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>swervelib.encoders Class Hierarchy</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="tree: package: swervelib.encoders">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/imu/NavXSwerve.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>NavXSwerve</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib.imu, class: NavXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>Pigeon2Swerve</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib.imu, class: Pigeon2Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>PigeonSwerve</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/imu/SwerveIMU.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>SwerveIMU</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>swervelib.imu</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
<meta name="description" content="declaration: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>swervelib.imu Class Hierarchy</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="2023-02-14">
<meta name="dc.created" content="2023-02-15">
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4
docs/swervelib/parser/json/MotorConfigInt.html
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@@ -1,11 +1,11 @@
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<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
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<title>MotorConfigInt</title>
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4
docs/swervelib/parser/json/PIDFPropertiesJson.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>PIDFPropertiesJson</title>
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<meta name="description" content="declaration: package: swervelib.parser.json, class: PIDFPropertiesJson">
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4
docs/swervelib/parser/json/PhysicalPropertiesJson.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>PhysicalPropertiesJson</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="2023-02-14">
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4
docs/swervelib/parser/json/SwerveDriveJson.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
<title>SwerveDriveJson</title>
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4
docs/swervelib/parser/json/modules/BoolMotorJson.html
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@@ -1,11 +1,11 @@
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<title>BoolMotorJson</title>
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4
docs/swervelib/parser/json/modules/LocationJson.html
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<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
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<title>LocationJson</title>
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4
docs/swervelib/parser/json/modules/package-summary.html
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<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
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<title>swervelib.parser.json.modules</title>
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<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
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<!-- Generated by javadoc (17) on Tue Feb 14 22:57:26 CST 2023 -->
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20
swervelib/SwerveDrive.java
View File

@@ -10,6 +10,7 @@ import edu.wpi.first.math.geometry.Transform2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -168,17 +169,16 @@ public class SwerveDrive
}
/**
* Set field-relative chassis speeds with closed-loop velocity control.
* Set chassis speeds with closed-loop velocity control.
*
* @param chassisSpeeds Field-relative.
* @param chassisSpeeds Chassis speeds to set.
*/
public void setChassisSpeeds(ChassisSpeeds chassisSpeeds)
{
setModuleStates(kinematics.toSwerveModuleStates(ChassisSpeeds.fromFieldRelativeSpeeds(chassisSpeeds, getYaw())),
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds),
false);
}
/**
* Gets the current pose (position and rotation) of the robot, as reported by odometry.
*
@@ -225,6 +225,16 @@ public class SwerveDrive
swerveDrivePoseEstimator.resetPosition(getYaw(), getModulePositions(), pose);
}
/**
* Post the trajectory to the field
*
* @param trajectory the trajectory to post.
*/
public void postTrajectory(Trajectory trajectory)
{
field.getObject("Trajectory").setTrajectory(trajectory);
}
/**
* Gets the current module states (azimuth and velocity)
*
@@ -425,7 +435,7 @@ public class SwerveDrive
field.setRobotPose(swerveDrivePoseEstimator.getEstimatedPosition());
double[] moduleStates = new double[8];
double[] moduleStates = new double[swerveModules.length * 2];
for (SwerveModule module : swerveModules)
{
SmartDashboard.putNumber("Module" + module.moduleNumber + "Absolute Encoder", module.getAbsolutePosition());