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Added support for trajectory following

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This commit is contained in:
thenetworkgrinch
2023-02-01 16:48:31 -06:00
parent fab24d2fd1
commit e903438c33
3 changed files with 256 additions and 11 deletions
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18
swervelib/SwerveModule.java
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@@ -69,20 +69,20 @@ public class SwerveModule<DriveMotorType extends MotorController, AngleMotorType
* The Distance between front and back wheels of the robot in meters.
*/
private final double wheelBase;
/**
* Drive feedforward for PID when driving by velocity.
*/
public SimpleMotorFeedforward driveFeedforward;
/**
* kV for steering feedforward.
*/
private final double steeringKV;
private final ShuffleboardTab moduleTab;
private final HashMap<String, SimpleWidget> NT4Entries = new HashMap<>();
private final HashMap<String, SimpleWidget> NT4Entries = new HashMap<>();
/**
* Drive feedforward for PID when driving by velocity.
*/
public SimpleMotorFeedforward driveFeedforward;
/**
* Angle offset of the CANCoder at initialization.
*/
public double angleOffset = 0;
public double angleOffset = 0;
/**
* Maximum speed in meters per second, used to eliminate unnecessary movement of the module.
*/
@@ -90,15 +90,15 @@ public class SwerveModule<DriveMotorType extends MotorController, AngleMotorType
/**
* Inverted drive motor.
*/
private boolean invertedDrive = false;
private boolean invertedDrive = false;
/**
* Inverted turning motor.
*/
private boolean invertedTurn = false;
private boolean invertedTurn = false;
/**
* Power to drive motor from -1 to 1.
*/
private double drivePower = 0;
private double drivePower = 0;
/**
* Store the last angle for optimization.
*/