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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">swervelib.math</a></div>
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<h2 title="Class SwerveKinematics2" class="title">Class SwerveKinematics2</h2>
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<li>edu.wpi.first.math.kinematics.SwerveDriveKinematics</li>
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<li>swervelib.math.SwerveKinematics2</li>
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<pre>public class <span class="typeNameLabel">SwerveKinematics2</span>
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extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
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<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
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speed.
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<p></p>
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<p>
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Makes use of <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to add the angular velocity that is required of the module as an output.</div>
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#bigInverseKinematics">bigInverseKinematics</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_forwardKinematics">m_forwardKinematics</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverseKinematics">m_inverseKinematics</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d[]</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_modules">m_modules</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleStates">m_moduleStates</a></span></code></th>
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<td class="colLast"> </td>
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<tr class="rowColor">
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<td class="colFirst"><code>private int</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_numModules">m_numModules</a></span></code></th>
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<td class="colLast"> </td>
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<tr class="altColor">
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<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_prevCoR">m_prevCoR</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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</table>
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</li>
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</section>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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<th class="colFirst" scope="col">Constructor</th>
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<tr class="altColor">
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)">SwerveKinematics2</a></span>​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</code></th>
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<td class="colLast">
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<div class="block">Constructs a swerve drive kinematics object.</div>
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</td>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<td class="colFirst"><code>static void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
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double attainableMaxSpeedMetersPerSecond)</code></th>
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<td class="colLast">
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<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
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</td>
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<tr id="i1" class="rowColor">
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<td class="colFirst"><code>static void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
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edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
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double attainableMaxModuleSpeedMetersPerSecond,
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double attainableMaxTranslationalSpeedMetersPerSecond,
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double attainableMaxRotationalVelocityRadiansPerSecond)</code></th>
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<td class="colLast">
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<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
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joystick saturation at edges of joystick.</div>
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</td>
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</tr>
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<tr id="i2" class="altColor">
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<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toChassisSpeeds(swervelib.math.SwerveModuleState2...)">toChassisSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>... wheelStates)</code></th>
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<td class="colLast">
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<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
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</td>
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</tr>
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<tr id="i3" class="rowColor">
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<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></th>
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<td class="colLast">
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<div class="block">Performs inverse kinematics.</div>
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</td>
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</tr>
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<tr id="i4" class="altColor">
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<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
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edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></th>
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<td class="colLast">
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<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
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</td>
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</tr>
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<tr id="i5" class="rowColor">
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<td class="colFirst"><code>edu.wpi.first.math.geometry.Twist2d</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">toTwist2d</a></span>​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</code></th>
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<td class="colLast">
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<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
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</td>
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<h3>Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
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<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></li>
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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</section>
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<h3>Field Detail</h3>
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<a id="m_inverseKinematics">
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<h4>m_inverseKinematics</h4>
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<pre>private final org.ejml.simple.SimpleMatrix m_inverseKinematics</pre>
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<pre>private final org.ejml.simple.SimpleMatrix m_forwardKinematics</pre>
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<h4>bigInverseKinematics</h4>
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<pre>private final org.ejml.simple.SimpleMatrix bigInverseKinematics</pre>
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<pre>private final int m_numModules</pre>
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<h4>m_modules</h4>
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<pre>private final edu.wpi.first.math.geometry.Translation2d[] m_modules</pre>
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||||
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||||
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<pre>private final <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] m_moduleStates</pre>
|
||||
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<pre>private edu.wpi.first.math.geometry.Translation2d m_prevCoR</pre>
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||||
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||||
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<h3>Constructor Detail</h3>
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<h4>SwerveKinematics2</h4>
|
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<pre>public SwerveKinematics2​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</pre>
|
||||
<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as Translation2ds.
|
||||
The order in which you pass in the wheel locations is the same order that you will receive the module states when
|
||||
performing inverse kinematics. It is also expected that you pass in the module states in the same order when
|
||||
calling the forward kinematics methods.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelsMeters</code> - The locations of the wheels relative to the physical center of the robot.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
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<h3>Method Detail</h3>
|
||||
<a id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],double)">
|
||||
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|
||||
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|
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<h4>desaturateWheelSpeeds</h4>
|
||||
<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
double attainableMaxSpeedMetersPerSecond)</pre>
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.
|
||||
|
||||
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
|
||||
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
|
||||
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
|
||||
maintaining the ratio of speeds between modules.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>moduleStates</code> - Reference to array of module states. The array will be mutated with the
|
||||
normalized speeds!</dd>
|
||||
<dd><code>attainableMaxSpeedMetersPerSecond</code> - The absolute max speed that a module can reach.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
|
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|
||||
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<h4>desaturateWheelSpeeds</h4>
|
||||
<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
|
||||
double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double attainableMaxRotationalVelocityRadiansPerSecond)</pre>
|
||||
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
|
||||
joystick saturation at edges of joystick.
|
||||
|
||||
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
|
||||
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
|
||||
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
|
||||
maintaining the ratio of speeds between modules.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>moduleStates</code> - Reference to array of module states. The array will be
|
||||
mutated with the normalized speeds!</dd>
|
||||
<dd><code>currentChassisSpeed</code> - The current speed of the robot</dd>
|
||||
<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach</dd>
|
||||
<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot can reach while
|
||||
translating</dd>
|
||||
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
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|
||||
<h4>toSwerveModuleStates</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</pre>
|
||||
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used
|
||||
to convert joystick values into module speeds and angles.
|
||||
|
||||
<p>This function also supports variable centers of rotation. During normal operations, the
|
||||
center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to
|
||||
that use case. However, if you wish to change the center of rotation for evasive maneuvers, vision alignment, or
|
||||
for any other use case, you can do so.
|
||||
|
||||
<p>In the case that the desired chassis speeds are zero (i.e. the robot will be stationary),
|
||||
the previously calculated module angle will be maintained.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
|
||||
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one corner
|
||||
of the robot and provide a chassis speed that only has a dtheta component, the robot
|
||||
will rotate around that corner.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>An array containing the module states. Use caution because these module states are not normalized.
|
||||
Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the
|
||||
<a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)"><code>DesaturateWheelSpeeds</code></a> function to rectify this issue.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toSwerveModuleStates</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</pre>
|
||||
<div class="block">Performs inverse kinematics. See <a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"><code>toSwerveModuleStates(ChassisSpeeds, Translation2d)</code></a> toSwerveModuleStates
|
||||
for more information.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>An array containing the module states.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toChassisSpeeds(swervelib.math.SwerveModuleState2...)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toChassisSpeeds</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds toChassisSpeeds​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>... wheelStates)</pre>
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
|
||||
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
|
||||
angle of each module on the robot.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelStates</code> - The state of the modules (as a SwerveModuleState type) as measured from respective encoders and
|
||||
gyros. The order of the swerve module states should be same as passed into the constructor of
|
||||
this class.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The resulting chassis speed.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">
|
||||
<!-- -->
|
||||
</a>
|
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<ul class="blockListLast">
|
||||
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|
||||
<h4>toTwist2d</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.geometry.Twist2d toTwist2d​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</pre>
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
|
||||
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
|
||||
angle of each module on the robot.</div>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dd><code>toTwist2d</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelDeltas</code> - The latest change in position of the modules (as a SwerveModulePosition type) as measured from
|
||||
respective encoders and gyros. The order of the swerve module states should be same as passed
|
||||
into the constructor of this class.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The resulting Twist2d.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">swervelib.math</a></div>
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<h2 title="Class SwerveMath" class="title">Class SwerveMath</h2>
|
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<div class="contentContainer">
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<ul class="inheritance">
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<pre>public class <span class="typeNameLabel">SwerveMath</span>
|
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
|
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<div class="block">Mathematical functions which pertain to swerve drive.</div>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colLast" scope="col">Description</th>
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<tr class="altColor">
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveMath</a></span>()</code></th>
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<td class="colLast"> </td>
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<h3>Method Summary</h3>
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<table class="memberSummary">
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr id="i0" class="altColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#applyDeadband(double,boolean,double)">applyDeadband</a></span>​(double value,
|
||||
boolean scaled,
|
||||
double deadband)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>private static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">calcMaxAccel</a></span>​(edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double chassisMass,
|
||||
double robotMass,
|
||||
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateAngleKV(double,double,double)">calculateAngleKV</a></span>​(double optimalVoltage,
|
||||
double motorFreeSpeedRPM,
|
||||
double angleGearRatio)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateDegreesPerSteeringRotation(double,double)">calculateDegreesPerSteeringRotation</a></span>​(double angleGearRatio,
|
||||
double pulsePerRotation)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the degrees per steering rotation for the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAcceleration(double)">calculateMaxAcceleration</a></span>​(double cof)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAcceleration(double,double,double,double,double)">calculateMaxAcceleration</a></span>​(double stallTorqueNm,
|
||||
double gearRatio,
|
||||
double moduleCount,
|
||||
double wheelDiameter,
|
||||
double robotMass)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
|
||||
</td>
|
||||
</tr>
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||||
<tr id="i6" class="altColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMaxAngularVelocity(double,double,double)">calculateMaxAngularVelocity</a></span>​(double maxSpeed,
|
||||
double furthestModuleX,
|
||||
double furthestModuleY)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the maximum angular velocity.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i7" class="rowColor">
|
||||
<td class="colFirst"><code>static double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateMetersPerRotation(double,double,double)">calculateMetersPerRotation</a></span>​(double wheelDiameter,
|
||||
double driveGearRatio,
|
||||
double pulsePerRotation)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Calculate the meters per rotation for the integrated encoder.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i8" class="altColor">
|
||||
<td class="colFirst"><code>static edu.wpi.first.math.geometry.Translation2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">limitVelocity</a></span>​(edu.wpi.first.math.geometry.Translation2d commandedVelocity,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
|
||||
edu.wpi.first.math.geometry.Pose2d robotPose,
|
||||
double loopTime,
|
||||
double chassisMass,
|
||||
double robotMass,
|
||||
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
|
||||
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>.</div>
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
|
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</ul>
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</ul>
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</section>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<h3>Constructor Detail</h3>
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<a id="<init>()">
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<h4>SwerveMath</h4>
|
||||
<pre>public SwerveMath()</pre>
|
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<h3>Method Detail</h3>
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<a id="calculateAngleKV(double,double,double)">
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<h4>calculateAngleKV</h4>
|
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<pre class="methodSignature">public static double calculateAngleKV​(double optimalVoltage,
|
||||
double motorFreeSpeedRPM,
|
||||
double angleGearRatio)</pre>
|
||||
<div class="block">Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds /
|
||||
degree <=> (maxVolts) / (maxSpeed)</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>optimalVoltage</code> - Optimal voltage to use when calculating the angle kV.</dd>
|
||||
<dd><code>motorFreeSpeedRPM</code> - Motor free speed in Rotations per Minute.</dd>
|
||||
<dd><code>angleGearRatio</code> - Angle gear ratio, the amount of times the motor as to turn for the wheel rotation.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>angle kV for feedforward.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
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<a id="calculateMetersPerRotation(double,double,double)">
|
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</a>
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<ul class="blockList">
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<h4>calculateMetersPerRotation</h4>
|
||||
<pre class="methodSignature">public static double calculateMetersPerRotation​(double wheelDiameter,
|
||||
double driveGearRatio,
|
||||
double pulsePerRotation)</pre>
|
||||
<div class="block">Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence]
|
||||
/ gear ratio.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
||||
<dd><code>driveGearRatio</code> - The gear ratio of the drive motor.</dd>
|
||||
<dd><code>pulsePerRotation</code> - The number of encoder pulses per rotation. 1 if using an integrated encoder.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Meters per rotation for the drive motor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="applyDeadband(double,boolean,double)">
|
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</a>
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<ul class="blockList">
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<h4>applyDeadband</h4>
|
||||
<pre class="methodSignature">public static double applyDeadband​(double value,
|
||||
boolean scaled,
|
||||
double deadband)</pre>
|
||||
<div class="block">Algebraically apply a deadband using a piece wise function.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>value</code> - value to apply deadband to.</dd>
|
||||
<dd><code>scaled</code> - Use algebra to determine deadband by starting the value at 0 past deadband.</dd>
|
||||
<dd><code>deadband</code> - The deadbnad to apply.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Value with deadband applied.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calculateDegreesPerSteeringRotation(double,double)">
|
||||
<!-- -->
|
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</a>
|
||||
<ul class="blockList">
|
||||
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||||
<h4>calculateDegreesPerSteeringRotation</h4>
|
||||
<pre class="methodSignature">public static double calculateDegreesPerSteeringRotation​(double angleGearRatio,
|
||||
double pulsePerRotation)</pre>
|
||||
<div class="block">Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts
|
||||
motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>angleGearRatio</code> - The gear ratio of the steering motor.</dd>
|
||||
<dd><code>pulsePerRotation</code> - The number of pulses in a complete rotation for the encoder, 1 if integrated.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Degrees per steering rotation for the angle motor.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calculateMaxAngularVelocity(double,double,double)">
|
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|
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</a>
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<h4>calculateMaxAngularVelocity</h4>
|
||||
<pre class="methodSignature">public static double calculateMaxAngularVelocity​(double maxSpeed,
|
||||
double furthestModuleX,
|
||||
double furthestModuleY)</pre>
|
||||
<div class="block">Calculate the maximum angular velocity.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>maxSpeed</code> - Max speed of the robot in meters per second.</dd>
|
||||
<dd><code>furthestModuleX</code> - X of the furthest module in meters.</dd>
|
||||
<dd><code>furthestModuleY</code> - Y of the furthest module in meters.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Maximum angular velocity in rad/s.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calculateMaxAcceleration(double)">
|
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|
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</a>
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<ul class="blockList">
|
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<h4>calculateMaxAcceleration</h4>
|
||||
<pre class="methodSignature">public static double calculateMaxAcceleration​(double cof)</pre>
|
||||
<div class="block">Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>cof</code> - Coefficient of Friction of the wheel grip tape.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Practical maximum acceleration in m/s/s.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calculateMaxAcceleration(double,double,double,double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>calculateMaxAcceleration</h4>
|
||||
<pre class="methodSignature">public static double calculateMaxAcceleration​(double stallTorqueNm,
|
||||
double gearRatio,
|
||||
double moduleCount,
|
||||
double wheelDiameter,
|
||||
double robotMass)</pre>
|
||||
<div class="block">Calculate the maximum theoretical acceleration without friction.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>stallTorqueNm</code> - Stall torque of driving motor in nM.</dd>
|
||||
<dd><code>gearRatio</code> - Gear ratio for driving motor number of motor rotations until one wheel rotation.</dd>
|
||||
<dd><code>moduleCount</code> - Number of swerve modules.</dd>
|
||||
<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
|
||||
<dd><code>robotMass</code> - Mass of the robot in kg.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Theoretical maximum acceleration in m/s/s.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>calcMaxAccel</h4>
|
||||
<pre class="methodSignature">private static double calcMaxAccel​(edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double chassisMass,
|
||||
double robotMass,
|
||||
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config)</pre>
|
||||
<div class="block">Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from
|
||||
NetworkTables and is passed the direction in question.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>angle</code> - The direction in which to calculate max acceleration, as a Rotation2d. Note that this
|
||||
is robot-relative.</dd>
|
||||
<dd><code>chassisMass</code> - Chassis mass in kg. (The weight of just the chassis not anything else)</dd>
|
||||
<dd><code>robotMass</code> - The weight of the robot in kg. (Including manipulators, etc).</dd>
|
||||
<dd><code>chassisCenterOfGravity</code> - Chassis center of gravity.</dd>
|
||||
<dd><code>config</code> - The swerve drive configuration.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>Maximum acceleration allowed in the robot direction.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="limitVelocity(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Pose2d,double,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>limitVelocity</h4>
|
||||
<pre class="methodSignature">public static edu.wpi.first.math.geometry.Translation2d limitVelocity​(edu.wpi.first.math.geometry.Translation2d commandedVelocity,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity,
|
||||
edu.wpi.first.math.geometry.Pose2d robotPose,
|
||||
double loopTime,
|
||||
double chassisMass,
|
||||
double robotMass,
|
||||
edu.wpi.first.math.geometry.Translation3d chassisCenterOfGravity,
|
||||
<a href="../parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config)</pre>
|
||||
<div class="block">Limits a commanded velocity to prevent exceeding the maximum acceleration given by
|
||||
<a href="#calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d,double,double,edu.wpi.first.math.geometry.Translation3d,swervelib.parser.SwerveDriveConfiguration)"><code>calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration)</code></a>. Note that
|
||||
this takes and returns field-relative velocities.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>commandedVelocity</code> - The desired velocity</dd>
|
||||
<dd><code>fieldVelocity</code> - The velocity of the robot within a field relative state.</dd>
|
||||
<dd><code>robotPose</code> - The current pose of the robot.</dd>
|
||||
<dd><code>loopTime</code> - The time it takes to update the velocity in seconds. <b>Note: this should include the
|
||||
100ms that it takes for a SparkMax velocity to update.</b></dd>
|
||||
<dd><code>chassisMass</code> - Chassis mass in kg. (The weight of just the chassis not anything else)</dd>
|
||||
<dd><code>robotMass</code> - The weight of the robot in kg. (Including manipulators, etc).</dd>
|
||||
<dd><code>chassisCenterOfGravity</code> - Chassis center of gravity.</dd>
|
||||
<dd><code>config</code> - The swerve drive configuration.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dd>The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable
|
||||
velocity.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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386
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Normal file
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|
||||
<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">swervelib.math</a></div>
|
||||
<h2 title="Class SwerveModuleState2" class="title">Class SwerveModuleState2</h2>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<ul class="inheritance">
|
||||
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>edu.wpi.first.math.kinematics.SwerveModuleState</li>
|
||||
<li>
|
||||
<ul class="inheritance">
|
||||
<li>swervelib.math.SwerveModuleState2</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
||||
<div class="description">
|
||||
<ul class="blockList">
|
||||
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|
||||
<dl>
|
||||
<dt>All Implemented Interfaces:</dt>
|
||||
<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a><edu.wpi.first.math.kinematics.SwerveModuleState></code></dd>
|
||||
</dl>
|
||||
<hr>
|
||||
<pre>public class <span class="typeNameLabel">SwerveModuleState2</span>
|
||||
extends edu.wpi.first.math.kinematics.SwerveModuleState</pre>
|
||||
<div class="block">Second order kinematics swerve module state.</div>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="summary">
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<!-- =========== FIELD SUMMARY =========== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="field.summary">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Field Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Modifier and Type</th>
|
||||
<th class="colSecond" scope="col">Field</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Rotation2d</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angle">angle</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#omegaRadPerSecond">omegaRadPerSecond</a></span></code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Rad per sec</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<td class="colFirst"><code>double</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#speedMetersPerSecond">speedMetersPerSecond</a></span></code></th>
|
||||
<td class="colLast"> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
|
||||
<section>
|
||||
<ul class="blockList">
|
||||
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|
||||
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|
||||
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|
||||
<h3>Constructor Summary</h3>
|
||||
<table class="memberSummary">
|
||||
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
|
||||
<tr>
|
||||
<th class="colFirst" scope="col">Constructor</th>
|
||||
<th class="colLast" scope="col">Description</th>
|
||||
</tr>
|
||||
<tr class="altColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveModuleState2</a></span>()</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr class="rowColor">
|
||||
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)">SwerveModuleState2</a></span>​(double speedMetersPerSecond,
|
||||
edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double omegaRadPerSecond)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Constructs a SwerveModuleState.</div>
|
||||
</td>
|
||||
</tr>
|
||||
</table>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
<!-- ========== METHOD SUMMARY =========== -->
|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.math.kinematics.SwerveModuleState">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Methods inherited from class edu.wpi.first.math.kinematics.SwerveModuleState</h3>
|
||||
<code>compareTo, equals, hashCode, optimize, toString</code></li>
|
||||
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|
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|
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
|
||||
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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|
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|
||||
<a id="speedMetersPerSecond">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<h4>speedMetersPerSecond</h4>
|
||||
<pre>public double speedMetersPerSecond</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="omegaRadPerSecond">
|
||||
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|
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||||
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|
||||
<h4>omegaRadPerSecond</h4>
|
||||
<pre>public double omegaRadPerSecond</pre>
|
||||
<div class="block">Rad per sec</div>
|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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<h4>angle</h4>
|
||||
<pre>public edu.wpi.first.math.geometry.Rotation2d angle</pre>
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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<h4>SwerveModuleState2</h4>
|
||||
<pre>public SwerveModuleState2()</pre>
|
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<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
|
||||
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|
||||
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|
||||
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|
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|
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<pre>public SwerveModuleState2​(double speedMetersPerSecond,
|
||||
edu.wpi.first.math.geometry.Rotation2d angle,
|
||||
double omegaRadPerSecond)</pre>
|
||||
<div class="block">Constructs a SwerveModuleState.</div>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
|
||||
<dd><code>angle</code> - The angle of the module.</dd>
|
||||
<dd><code>omegaRadPerSecond</code> - The angular velocity of the module.</dd>
|
||||
</dl>
|
||||
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|
||||
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|
||||
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|
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|
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<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
|
||||
speed.</div>
|
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<script type="text/javascript"><!--
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</header>
|
||||
<main role="main">
|
||||
<div class="header">
|
||||
<h1 class="title">Hierarchy For Package swervelib.math</h1>
|
||||
<span class="packageHierarchyLabel">Package Hierarchies:</span>
|
||||
<ul class="horizontal">
|
||||
<li><a href="../../overview-tree.html">All Packages</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="contentContainer">
|
||||
<section>
|
||||
<h2 title="Class Hierarchy">Class Hierarchy</h2>
|
||||
<ul>
|
||||
<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
|
||||
<ul>
|
||||
<li class="circle">edu.wpi.first.math.kinematics.SwerveDriveKinematics
|
||||
<ul>
|
||||
<li class="circle">swervelib.math.<a href="SwerveKinematics2.html" title="class in swervelib.math"><span class="typeNameLink">SwerveKinematics2</span></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="circle">swervelib.math.<a href="SwerveMath.html" title="class in swervelib.math"><span class="typeNameLink">SwerveMath</span></a></li>
|
||||
<li class="circle">edu.wpi.first.math.kinematics.SwerveModuleState (implements java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a><T>)
|
||||
<ul>
|
||||
<li class="circle">swervelib.math.<a href="SwerveModuleState2.html" title="class in swervelib.math"><span class="typeNameLink">SwerveModuleState2</span></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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|
||||
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|
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|
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|
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|
||||
</html>
|
||||
Reference in New Issue
Block a user