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+ SwerveModuleConfiguration - + diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 092fc0d..7ccc777 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,11 +1,11 @@ - + SwerveModulePhysicalCharacteristics - + diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index 47678da..35f3e44 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,11 +1,11 @@ - + SwerveParser - + diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 925982b..a928fb5 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,11 +1,11 @@ - + PIDFRange - + diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index 0a1b315..c25f193 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer - + diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index 7b1b58e..375eb93 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer Class Hierarchy - + diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index 70fd74a..2e18ec6 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,11 +1,11 @@ - + ControllerPropertiesJson - + diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index 6db17f5..b5d919e 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,11 +1,11 @@ - + DeviceJson - + diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index 459687f..f4db3e0 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,11 +1,11 @@ - + ModuleJson - + diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index 083f9b6..34da15a 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,11 +1,11 @@ - + MotorConfigDouble - + diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index 65746a1..f25d27c 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,11 +1,11 @@ - + MotorConfigInt - + diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index d4bfcee..4723898 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,11 +1,11 @@ - + PIDFPropertiesJson - + diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index e5598fe..c118a73 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,11 +1,11 @@ - + PhysicalPropertiesJson - + diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index d122ed8..153bf0a 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,11 +1,11 @@ - + SwerveDriveJson - + diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index 69face6..c3823dc 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,11 +1,11 @@ - + BoolMotorJson - + diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index b87db9b..a03ce88 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,11 +1,11 @@ - + LocationJson - + diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index b81b7f5..fb6999e 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules - + diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index 060dc8a..afb6710 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules Class Hierarchy - + diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index 4411bf7..a486f2e 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json - + diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 659a00a..7856f18 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json Class Hierarchy - + diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index ca19860..946a5c2 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser - + diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index 3f4687e..21b1e6f 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser Class Hierarchy - + diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index 9150c87..5bdc24f 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,11 +1,11 @@ - + SwerveIMUSimulation - + diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index 7c5f763..3bab23d 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,11 +1,11 @@ - + SwerveModuleSimulation - + diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html index a2fcf7a..873499d 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.SimProfile.html @@ -1,11 +1,11 @@ - + PhysicsSim.SimProfile - + diff --git a/docs/swervelib/simulation/ctre/PhysicsSim.html b/docs/swervelib/simulation/ctre/PhysicsSim.html index e0466f4..f2f7576 100644 --- a/docs/swervelib/simulation/ctre/PhysicsSim.html +++ b/docs/swervelib/simulation/ctre/PhysicsSim.html @@ -1,11 +1,11 @@ - + PhysicsSim - + diff --git a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html index de0da60..c325a60 100644 --- a/docs/swervelib/simulation/ctre/TalonFXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonFXSimProfile.html @@ -1,11 +1,11 @@ - + TalonFXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html index a9649c4..5a5c475 100644 --- a/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html +++ b/docs/swervelib/simulation/ctre/TalonSRXSimProfile.html @@ -1,11 +1,11 @@ - + TalonSRXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html index 4983bf7..af0788e 100644 --- a/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html +++ b/docs/swervelib/simulation/ctre/VictorSPXSimProfile.html @@ -1,11 +1,11 @@ - + VictorSPXSimProfile - + diff --git a/docs/swervelib/simulation/ctre/package-summary.html b/docs/swervelib/simulation/ctre/package-summary.html index a87ab3b..930e4b3 100644 --- a/docs/swervelib/simulation/ctre/package-summary.html +++ b/docs/swervelib/simulation/ctre/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation.ctre - + diff --git a/docs/swervelib/simulation/ctre/package-tree.html b/docs/swervelib/simulation/ctre/package-tree.html index 2f969b9..3858bee 100644 --- a/docs/swervelib/simulation/ctre/package-tree.html +++ b/docs/swervelib/simulation/ctre/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation.ctre Class Hierarchy - + diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index d81b440..c957a3e 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation - + diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 40dca5b..c42be62 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation Class Hierarchy - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index 7829baa..0c59fbf 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry.TelemetryVerbosity - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index 39c08c0..efaff9f 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry - + diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index d704c73..698db6a 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.telemetry - + diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index 74fa546..312949d 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.telemetry Class Hierarchy - + diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index 5c3bd62..eefada5 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -189,6 +189,12 @@ public class SwerveModule angle = Math.abs(desiredState.speedMetersPerSecond) <= (configuration.maxSpeed * 0.01) ? lastAngle : angle; } + // Ensure the angle is above 0 + while (angle < 0) + { + angle += 360; + } + // Prevent module rotation if angle is the same as the previous angle. if (angle != lastAngle || synchronizeEncoderQueued) { diff --git a/swervelib/motors/SparkMaxSwerve.java b/swervelib/motors/SparkMaxSwerve.java index e07b506..e71ffb9 100644 --- a/swervelib/motors/SparkMaxSwerve.java +++ b/swervelib/motors/SparkMaxSwerve.java @@ -295,11 +295,19 @@ public class SparkMaxSwerve extends SwerveMotor { int pidSlot = isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal(); - pid.setReference( - setpoint, - isDriveMotor ? ControlType.kVelocity : ControlType.kPosition, - pidSlot, - feedforward); + if (isDriveMotor) + { + pid.setReference( + setpoint, + ControlType.kVelocity, + pidSlot, + feedforward); + } else + { + pid.setReference( + setpoint, + ControlType.kPosition); + } } /**