mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-06-30 07:11:40 +00:00
Updated docs, renamed SwerveDrive lock function and setBrake function
This commit is contained in:
thenetworkgrinch
@@ -1,7 +1,7 @@
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<!DOCTYPE HTML>
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<html lang="en">
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<head>
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<!-- Generated by javadoc (17) on Wed Feb 15 00:08:08 CST 2023 -->
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<!-- Generated by javadoc (17) on Wed Feb 15 22:17:49 CST 2023 -->
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<title>SwerveDrive</title>
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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@@ -91,30 +91,30 @@ loadScripts(document, 'script');</script>
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Field</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color"><code>private double</code></div>
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<div class="col-second even-row-color"><code><a href="#angle" class="member-name-link">angle</a></code></div>
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<div class="col-first even-row-color"><code>edu.wpi.first.wpilibj.smartdashboard.Field2d</code></div>
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<div class="col-second even-row-color"><code><a href="#field" class="member-name-link">field</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The current angle of the robot and last time odometry during simulations.</div>
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</div>
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<div class="col-first odd-row-color"><code>edu.wpi.first.wpilibj.smartdashboard.Field2d</code></div>
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<div class="col-second odd-row-color"><code><a href="#field" class="member-name-link">field</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Field object.</div>
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</div>
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<div class="col-first even-row-color"><code>private <a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
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<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
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<div class="col-last even-row-color">
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<div class="col-first odd-row-color"><code>private <a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
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</div>
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<div class="col-first odd-row-color"><code>final <a href="math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
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<div class="col-last odd-row-color">
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<div class="col-first even-row-color"><code>final <a href="math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></code></div>
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<div class="col-second even-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
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</div>
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<div class="col-first even-row-color"><code>private double</code></div>
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<div class="col-second even-row-color"><code><a href="#lastTime" class="member-name-link">lastTime</a></code></div>
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<div class="col-first odd-row-color"><code>private int</code></div>
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<div class="col-second odd-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
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</div>
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<div class="col-first even-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
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<div class="col-second even-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The current angle of the robot and last time odometry during simulations.</div>
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<div class="block">Simulation of the swerve drive.</div>
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</div>
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<div class="col-first odd-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
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@@ -136,11 +136,6 @@ loadScripts(document, 'script');</script>
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<div class="col-last even-row-color">
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<div class="block">Swerve modules.</div>
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</div>
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<div class="col-first odd-row-color"><code>private edu.wpi.first.wpilibj.Timer</code></div>
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<div class="col-second odd-row-color"><code><a href="#timer" class="member-name-link">timer</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Time during simulations.</div>
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</div>
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</div>
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</section>
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</li>
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@@ -172,11 +167,12 @@ loadScripts(document, 'script');</script>
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<div class="table-header col-second">Method</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)" class="member-name-link">addVisionMeasurement</a><wbr>(edu.wpi.first.math.geometry.Pose2d robotPose,
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double timestamp)</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean)" class="member-name-link">addVisionMeasurement</a><wbr>(edu.wpi.first.math.geometry.Pose2d robotPose,
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double timestamp,
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boolean soft)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> with the given timestamp of the vision
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measurement.</div>
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<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
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the given timestamp of the vision measurement.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d translation,
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@@ -194,7 +190,7 @@ loadScripts(document, 'script');</script>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Gets the current gyro Rotation3d of the robot, as reported by the imu.</div>
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<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
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@@ -237,31 +233,31 @@ loadScripts(document, 'script');</script>
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<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<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 trajectory)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Post the trajectory to the field</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<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 feedforward)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Setup the swerve module feedforward.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<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 pose)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Resets odometry to the given pose.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<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 chassisSpeeds)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Set chassis speeds with closed-loop velocity control.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<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>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-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 trajectory)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Post the trajectory to the field</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<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 feedforward)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Setup the swerve module feedforward.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<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 pose)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Resets odometry to the given pose.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<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 chassisSpeeds)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Set chassis speeds with closed-loop velocity control.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<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>[] desiredStates,
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boolean isOpenLoop)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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@@ -354,24 +350,17 @@ loadScripts(document, 'script');</script>
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</section>
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</li>
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<li>
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<section class="detail" id="angle">
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<h3>angle</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">double</span> <span class="element-name">angle</span></div>
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<div class="block">The current angle of the robot and last time odometry during simulations.</div>
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<section class="detail" id="simIMU">
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<h3>simIMU</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type"><a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></span> <span class="element-name">simIMU</span></div>
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<div class="block">Simulation of the swerve drive.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="lastTime">
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<h3>lastTime</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">double</span> <span class="element-name">lastTime</span></div>
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<div class="block">The current angle of the robot and last time odometry during simulations.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="timer">
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<h3>timer</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">edu.wpi.first.wpilibj.Timer</span> <span class="element-name">timer</span></div>
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<div class="block">Time during simulations.</div>
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<section class="detail" id="moduleSynchronizationCounter">
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<h3>moduleSynchronizationCounter</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">int</span> <span class="element-name">moduleSynchronizationCounter</span></div>
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<div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
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</section>
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</li>
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</ul>
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@@ -387,10 +376,11 @@ loadScripts(document, 'script');</script>
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<h3>SwerveDrive</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveDrive</span><wbr><span class="parameters">(<a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config,
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<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a> controllerConfig)</span></div>
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<div class="block">Creates a new swerve drivebase subsystem. Robot is controlled via the drive() method, or via the setModuleStates()
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method. The drive() method incorporates kinematics— it takes a translation and rotation, as well as parameters for
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field-centric and closed-loop velocity control. setModuleStates() takes a list of SwerveModuleStates and directly
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passes them to the modules. This subsystem also handles odometry.</div>
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<div class="block">Creates a new swerve drivebase subsystem. Robot is controlled via the <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a> method, or via the
|
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<a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setModuleStates(swervelib.math.SwerveModuleState2[], boolean)</code></a> method. The <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a> method incorporates kinematics— it takes
|
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a translation and rotation, as well as parameters for field-centric and closed-loop velocity control.
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<a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)"><code>setModuleStates(swervelib.math.SwerveModuleState2[], boolean)</code></a> takes a list of SwerveModuleStates and directly passes them to the modules.
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This subsystem also handles odometry.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>config</code> - The <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser"><code>SwerveDriveConfiguration</code></a> configuration to base the swerve drive off of.</dd>
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@@ -578,7 +568,7 @@ loadScripts(document, 'script');</script>
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<section class="detail" id="getGyroRotation3d()">
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<h3>getGyroRotation3d</h3>
|
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span> <span class="element-name">getGyroRotation3d</span>()</div>
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<div class="block">Gets the current gyro Rotation3d of the robot, as reported by the imu.</div>
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<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
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<dl class="notes">
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<dt>Returns:</dt>
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<dd>The heading as a <code>Rotation3d</code> angle</dd>
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@@ -597,10 +587,11 @@ loadScripts(document, 'script');</script>
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</section>
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</li>
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<li>
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<section class="detail" id="setDriveBrake()">
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<h3>setDriveBrake</h3>
|
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setDriveBrake</span>()</div>
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<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
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<section class="detail" id="lockPose()">
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<h3>lockPose</h3>
|
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">lockPose</span>()</div>
|
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<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move. Forcing the robot to keep
|
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the current pose.</div>
|
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</section>
|
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</li>
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<li>
|
||||
@@ -631,7 +622,9 @@ loadScripts(document, 'script');</script>
|
||||
<section class="detail" id="updateOdometry()">
|
||||
<h3>updateOdometry</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">updateOdometry</span>()</div>
|
||||
<div class="block">Update odometry should be run every loop.</div>
|
||||
<div class="block">Update odometry should be run every loop. Synchronizes module absolute encoders with relative encoders
|
||||
periodically. In simulation mode will also post the pose of each module. Updates SmartDashboard with module encoder
|
||||
readings and states.</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
@@ -642,17 +635,22 @@ loadScripts(document, 'script');</script>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)">
|
||||
<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean)">
|
||||
<h3>addVisionMeasurement</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d robotPose,
|
||||
double timestamp)</span></div>
|
||||
<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> with the given timestamp of the vision
|
||||
measurement. <b>THIS WILL BREAK IF UPDATED TOO OFTEN.</b></div>
|
||||
double timestamp,
|
||||
boolean soft)</span></div>
|
||||
<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
|
||||
the given timestamp of the vision measurement. <b>THIS WILL BREAK IF UPDATED TOO OFTEN.</b></div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>robotPose</code> - Robot <code>Pose2d</code> as measured by vision.</dd>
|
||||
<dd><code>timestamp</code> - Timestamp the measurement was taken as time since FPGATimestamp, could be taken from
|
||||
<code>Timer.getFPGATimestamp()</code>.</dd>
|
||||
<dd><code>timestamp</code> - Timestamp the measurement was taken as time since startup, should be taken from
|
||||
<code>Timer.getFPGATimestamp()</code> or similar sources.</dd>
|
||||
<dd><code>soft</code> - Add vision estimate using the
|
||||
<code>SwerveDrivePoseEstimator.addVisionMeasurement(Pose2d, double)</code> function, or hard reset
|
||||
odometry with the given position with
|
||||
<code>SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d)</code>.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
|
||||
Reference in New Issue
Block a user