diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index f4fbff5..b913a2e 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,11 +1,11 @@ - + All Classes and Interfaces - + diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 40a94ea..bd34719 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,11 +1,11 @@ - + All Packages - + diff --git a/docs/constant-values.html b/docs/constant-values.html index 04daa22..135a2f5 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,11 +1,11 @@ - + Constant Field Values - + diff --git a/docs/help-doc.html b/docs/help-doc.html index 2ee0de9..c9a3adb 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,11 +1,11 @@ - + API Help - + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 2680bdc..8bd0141 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,11 +1,11 @@ - + A-Index - + diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index 3173d19..0a88bf1 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,11 +1,11 @@ - + K-Index - + diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index c0c7011..b0dd507 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + @@ -73,6 +73,10 @@ loadScripts(document, 'script');
Last time queried.
+
lastVelocity - Variable in class swervelib.SwerveModule
+
+
Last velocity set for the swerve module.
+
limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List<Matter>, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
Limits a commanded velocity to prevent exceeding the maximum acceleration given by SwerveMath.calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index b874226..9a968ee 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,11 +1,11 @@ - + M-Index - + diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 39689ce..8c2fb0a 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,11 +1,11 @@ - + N-Index - + diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index 24f2656..0c773fe 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + @@ -53,6 +53,34 @@ loadScripts(document, 'script'); A B C D E F G H I K L M N O P R S T U V W X Y Z _ 
All Classes and Interfaces|All Packages|Constant Field Values

O

+
offset - Variable in class swervelib.imu.ADIS16448Swerve
+
+
Offset for the ADIS16448.
+
+
offset - Variable in class swervelib.imu.ADIS16470Swerve
+
+
Offset for the ADIS16470.
+
+
offset - Variable in class swervelib.imu.ADXRS450Swerve
+
+
Offset for the ADXRS450.
+
+
offset - Variable in class swervelib.imu.AnalogGyroSwerve
+
+
Offset for the analog gyro.
+
+
offset - Variable in class swervelib.imu.NavXSwerve
+
+
Offset for the NavX.
+
+
offset - Variable in class swervelib.imu.Pigeon2Swerve
+
+
Offset for the Pigeon 2.
+
+
offset - Variable in class swervelib.imu.PigeonSwerve
+
+
Offset for the Pigeon.
+
omegaRadPerSecond - Variable in class swervelib.math.SwerveModuleState2
Rad per sec
diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 56d4c37..5444bbf 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 746b26e..1b26326 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + R-Index - + diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 0baee91..d85d98c 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + S-Index - + @@ -210,6 +210,38 @@ loadScripts(document, 'script');
Sets the drive motors to brake/coast mode.
+
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16448Swerve
+
+
Set the gyro offset.
+
+
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16470Swerve
+
+
Set the gyro offset.
+
+
setOffset(Rotation3d) - Method in class swervelib.imu.ADXRS450Swerve
+
+
Set the gyro offset.
+
+
setOffset(Rotation3d) - Method in class swervelib.imu.AnalogGyroSwerve
+
+
Set the gyro offset.
+
+
setOffset(Rotation3d) - Method in class swervelib.imu.NavXSwerve
+
+
Set the gyro offset.
+
+
setOffset(Rotation3d) - Method in class swervelib.imu.Pigeon2Swerve
+
+
Set the gyro offset.
+
+
setOffset(Rotation3d) - Method in class swervelib.imu.PigeonSwerve
+
+
Set the gyro offset.
+
+
setOffset(Rotation3d) - Method in class swervelib.imu.SwerveIMU
+
+
Set the gyro offset.
+
setPosition(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
Set the integrated encoder position.
@@ -270,38 +302,6 @@ loadScripts(document, 'script');
Set the voltage compensation for the swerve module motor.
-
setYaw(double) - Method in class swervelib.imu.ADIS16448Swerve
-
-
Set the yaw in degrees.
-
-
setYaw(double) - Method in class swervelib.imu.ADIS16470Swerve
-
-
Set the yaw in degrees.
-
-
setYaw(double) - Method in class swervelib.imu.ADXRS450Swerve
-
-
Set the yaw in degrees.
-
-
setYaw(double) - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Set the yaw in degrees.
-
-
setYaw(double) - Method in class swervelib.imu.NavXSwerve
-
-
Set the yaw in degrees.
-
-
setYaw(double) - Method in class swervelib.imu.Pigeon2Swerve
-
-
Set the yaw in degrees.
-
-
setYaw(double) - Method in class swervelib.imu.PigeonSwerve
-
-
Set the yaw in degrees.
-
-
setYaw(double) - Method in class swervelib.imu.SwerveIMU
-
-
Set the yaw in degrees.
-
sim - Static variable in class swervelib.simulation.ctre.PhysicsSim
 
simIMU - Variable in class swervelib.SwerveDrive
diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 1126f94..a643364 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + T-Index - + diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index c4f70d7..4d7908f 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + U-Index - + diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 06f035f..6563ef8 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,11 +1,11 @@ - + B-Index - + diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 8697173..9b27b5a 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + V-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index c6792f4..4c30ced 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + W-Index - + diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index c3f4fe8..42d67bd 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + X-Index - + diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index 5c09400..e9b8933 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + Y-Index - + @@ -57,26 +57,6 @@ loadScripts(document, 'script');
Location of the swerve module in inches from the center of the robot vertically.
-
yawOffset - Variable in class swervelib.imu.ADIS16448Swerve
-
-
Offset for the ADIS16448 yaw reading.
-
-
yawOffset - Variable in class swervelib.imu.ADIS16470Swerve
-
-
Offset for the ADIS16470 yaw reading.
-
-
yawOffset - Variable in class swervelib.imu.ADXRS450Swerve
-
-
Offset for the ADXRS450 yaw reading.
-
-
yawOffset - Variable in class swervelib.imu.AnalogGyroSwerve
-
-
The yaw offset for the gyroscope.
-
-
yawOffset - Variable in class swervelib.imu.NavXSwerve
-
-
Offset for the NavX yaw reading.
-
yLimiter - Variable in class swervelib.SwerveController
SlewRateLimiter for movement in the Y direction in meters/second.
diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index faccf2a..493dc04 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index 5afa7d1..bc53d5e 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + _-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index dd6e509..4713dc4 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,11 +1,11 @@ - + C-Index - + diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 9822d3f..6231a2f 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,11 +1,11 @@ - + D-Index - + diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index d6a08bb..df7be3b 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index c64a0f7..910129b 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,11 +1,11 @@ - + F-Index - + diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 2cd92ba..c3f5f43 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + @@ -257,6 +257,38 @@ loadScripts(document, 'script');
Get the encoder conversion for position encoders.
+
getRawRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
+
+
Fetch the Rotation3d from the IMU without any zeroing.
+
+
getRawRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
+
+
Fetch the Rotation3d from the IMU without any zeroing.
+
+
getRawRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
+
+
Fetch the Rotation3d from the IMU without any zeroing.
+
+
getRawRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
+
+
Fetch the Rotation3d from the IMU without any zeroing.
+
+
getRawRotation3d() - Method in class swervelib.imu.NavXSwerve
+
+
Fetch the Rotation3d from the IMU without any zeroing.
+
+
getRawRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
+
+
Fetch the Rotation3d from the IMU without any zeroing.
+
+
getRawRotation3d() - Method in class swervelib.imu.PigeonSwerve
+
+
Fetch the Rotation3d from the IMU without any zeroing.
+
+
getRawRotation3d() - Method in class swervelib.imu.SwerveIMU
+
+
Fetch the Rotation3d from the IMU without any zeroing.
+
getRawTargetSpeeds(double, double, double) - Method in class swervelib.SwerveController
Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
@@ -373,38 +405,6 @@ loadScripts(document, 'script');
Gets the current yaw angle of the robot, as reported by the imu.
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.ADIS16448Swerve
-
-
Fetch the yaw/pitch/roll from the IMU.
-
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.ADIS16470Swerve
-
-
Fetch the yaw/pitch/roll from the IMU.
-
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.ADXRS450Swerve
-
-
Fetch the yaw/pitch/roll from the IMU.
-
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.AnalogGyroSwerve
-
-
Fetch the yaw/pitch/roll from the IMU.
-
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.NavXSwerve
-
-
Fetch the yaw/pitch/roll from the IMU.
-
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.Pigeon2Swerve
-
-
Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
-
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.PigeonSwerve
-
-
Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
-
-
getYawPitchRoll(double[]) - Method in class swervelib.imu.SwerveIMU
-
-
Fetch the yaw/pitch/roll from the IMU.
-
gyro - Variable in class swervelib.imu.AnalogGyroSwerve
Gyroscope object.
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index e349fe8..1eb9a6a 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,11 +1,11 @@ - + H-Index - + diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index 3281841..5254c0f 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,11 +1,11 @@ - + I-Index - + diff --git a/docs/index.html b/docs/index.html index e000462..17126cc 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,11 +1,11 @@ - + Overview - + diff --git a/docs/member-search-index.js b/docs/member-search-index.js index 8636f89..e6ad8b4 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = [{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_accelToFullTime"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_accelToFullTime"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_falcon"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_fullVel"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_fullVel"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"_lastTime"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim.SimProfile","l":"_running"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_sensorPhase"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_sensorPhase"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"_simProfiles"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_talon"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"_vel"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"_vel"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"_victor"},{"p":"swervelib.motors","c":"SparkMaxBrushedMotorSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"SparkMaxSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"absoluteEncoder"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"absoluteEncoder"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoder"},{"p":"swervelib","c":"SwerveModule","l":"absoluteEncoder"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderInverted"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"absoluteEncoderInverted"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"absoluteEncoderOffset"},{"p":"swervelib","c":"SwerveController","l":"addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)","u":"addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonFX(TalonFX, double, double)","u":"addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonFX(TalonFX, double, double, boolean)","u":"addTalonFX(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonSRX(TalonSRX, double, double)","u":"addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addTalonSRX(TalonSRX, double, double, boolean)","u":"addTalonSRX(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)"},{"p":"swervelib.simulation.ctre","c":"PhysicsSim","l":"addVictorSPX(VictorSPX)","u":"addVictorSPX(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib","c":"SwerveDrive","l":"addVisionMeasurement(Pose2d, double, boolean, double)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,double)"},{"p":"swervelib.imu","c":"ADIS16448Swerve","l":"ADIS16448Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADIS16470Swerve","l":"ADIS16470Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.imu","c":"ADXRS450Swerve","l":"ADXRS450Swerve()","u":"%3Cinit%3E()"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(AnalogInput)","u":"%3Cinit%3E(edu.wpi.first.wpilibj.AnalogInput)"},{"p":"swervelib.encoders","c":"AnalogAbsoluteEncoderSwerve","l":"AnalogAbsoluteEncoderSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.imu","c":"AnalogGyroSwerve","l":"AnalogGyroSwerve(int)","u":"%3Cinit%3E(int)"},{"p":"swervelib.math","c":"SwerveModuleState2","l":"angle"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angle"},{"p":"swervelib.parser.json.modules","c":"BoolMotorJson","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigDouble","l":"angle"},{"p":"swervelib.parser.json","c":"MotorConfigInt","l":"angle"},{"p":"swervelib.parser.json","c":"PIDFPropertiesJson","l":"angle"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"angle"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angleEncoderPulsePerRevolution"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleEncoderPulsePerRotation"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleGearRatio"},{"p":"swervelib.parser.json","c":"ControllerPropertiesJson","l":"angleJoystickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveControllerConfiguration","l":"angleJoyStickRadiusDeadband"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleKV"},{"p":"swervelib","c":"SwerveController","l":"angleLimiter"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotor"},{"p":"swervelib","c":"SwerveModule","l":"angleMotor"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorCurrentLimit"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorEncoderPulsePerRevolution"},{"p":"swervelib.parser.json","c":"ModuleJson","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorFreeSpeedRPM"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleMotorInverted"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"angleMotorRampRate"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"angleOffset"},{"p":"swervelib","c":"SwerveModule","l":"angleOffset"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"anglePIDF"},{"p":"swervelib.math","c":"SwerveMath","l":"applyDeadband(double, 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b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index e64e739..09d7d20 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + @@ -772,7 +772,7 @@ loadScripts(document, 'script');

setGyro

public void setGyro(edu.wpi.first.math.geometry.Rotation3d gyro)
-
Set the Gyroscope offset using a Rotation3d object. (Only yaw works currently.)
+
Set the Gyroscope offset using a Rotation3d object.
Parameters:
gyro - Gyroscope offset.
diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index 31374a1..8b84050 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,11 +1,11 @@ - + SwerveModule - + @@ -126,14 +126,19 @@ loadScripts(document, 'script');
Last angle set for the swerve module.
-
int
-
moduleNumber
+
double
+
lastVelocity
+
Last velocity set for the swerve module.
+
+
int
+
moduleNumber
+
Module number for kinematics, usually 0 to 3.
-
private SwerveModuleSimulation
-
simModule
-
+
private SwerveModuleSimulation
+
simModule
+
Simulated swerve module.
@@ -281,6 +286,13 @@ loadScripts(document, 'script');
  • +
    +

    lastVelocity

    +
    public double lastVelocity
    +
    Last velocity set for the swerve module.
    +
    +
    • +

  • simModule

    private SwerveModuleSimulation simModule
    diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index 6826074..a43fab7 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,11 +1,11 @@ - + AnalogAbsoluteEncoderSwerve - + diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index 2c8ebc0..5d97852 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,11 +1,11 @@ - + CANCoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 73b3feb..755b128 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxEncoderSwerve - + diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index 9085333..55c226a 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,11 +1,11 @@ - + SwerveAbsoluteEncoder - + diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index 9dcf543..9ed5860 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.encoders - + diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index 445c61c..ea79fed 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.encoders Class Hierarchy - + diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 4af0910..3229353 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,11 +1,11 @@ - + ADIS16448Swerve - + @@ -98,10 +98,10 @@ loadScripts(document, 'script');
    ADIS16448_IMU device to read the current headings from.
    -
    private double
    -
    yawOffset
    +
    private edu.wpi.first.math.geometry.Rotation3d
    +
    offset
    -
    Offset for the ADIS16448 yaw reading.
    +
    Offset for the ADIS16448.
    @@ -153,19 +153,19 @@ loadScripts(document, 'script');
    Get the instantiated IMU object.
    edu.wpi.first.math.geometry.Rotation3d
    -
    getRotation3d()
    +
    getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    Fetch the Rotation3d from the IMU.
    -
    void
    -
    getYawPitchRoll(double[] yprArray)
    -
    -
    Fetch the yaw/pitch/roll from the IMU.
    -
    void
    -
    setYaw(double yaw)
    +
    setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    -
    Set the yaw in degrees.
    +
    Set the gyro offset.
    @@ -192,10 +192,10 @@ loadScripts(document, 'script');
  • -
    -

    yawOffset

    -
    private double yawOffset
    -
    Offset for the ADIS16448 yaw reading.
    +
    +

    offset

    +
    private edu.wpi.first.math.geometry.Rotation3d offset
    +
    Offset for the ADIS16448.
    • @@ -244,28 +244,28 @@ loadScripts(document, 'script');
  • -
    -

    setYaw

    -
    public void setYaw(double yaw)
    -
    Set the yaw in degrees.
    +
    +

    setOffset

    +
    public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    +
    Set the gyro offset.
    Specified by:
    -
    setYaw in class SwerveIMU
    +
    setOffset in class SwerveIMU
    Parameters:
    -
    yaw - Yaw angle in degrees.
    +
    offset - gyro offset as a Rotation3d.
  • -
    -

    getYawPitchRoll

    -
    public void getYawPitchRoll(double[] yprArray)
    -
    Fetch the yaw/pitch/roll from the IMU.
    +
    +

    getRawRotation3d

    +
    public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
    Specified by:
    -
    getYawPitchRoll in class SwerveIMU
    -
    Parameters:
    -
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
    +
    getRawRotation3d in class SwerveIMU
    +
    Returns:
    +
    Rotation3d from the IMU.
    • diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index bc272c6..21fb025 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,11 +1,11 @@ - + ADIS16470Swerve - + @@ -98,10 +98,10 @@ loadScripts(document, 'script');
    ADIS16470_IMU device to read the current headings from.
    -
    private double
    -
    yawOffset
    +
    private edu.wpi.first.math.geometry.Rotation3d
    +
    offset
    -
    Offset for the ADIS16470 yaw reading.
    +
    Offset for the ADIS16470.
    @@ -153,19 +153,19 @@ loadScripts(document, 'script');
    Get the instantiated IMU object.
    edu.wpi.first.math.geometry.Rotation3d
    -
    getRotation3d()
    +
    getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    Fetch the Rotation3d from the IMU.
    -
    void
    -
    getYawPitchRoll(double[] yprArray)
    -
    -
    Fetch the yaw/pitch/roll from the IMU.
    -
    void
    -
    setYaw(double yaw)
    +
    setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    -
    Set the yaw in degrees.
    +
    Set the gyro offset.
    @@ -192,10 +192,10 @@ loadScripts(document, 'script');
  • -
    -

    yawOffset

    -
    private double yawOffset
    -
    Offset for the ADIS16470 yaw reading.
    +
    +

    offset

    +
    private edu.wpi.first.math.geometry.Rotation3d offset
    +
    Offset for the ADIS16470.
    • @@ -244,28 +244,28 @@ loadScripts(document, 'script');
  • -
    -

    setYaw

    -
    public void setYaw(double yaw)
    -
    Set the yaw in degrees.
    +
    +

    setOffset

    +
    public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    +
    Set the gyro offset.
    Specified by:
    -
    setYaw in class SwerveIMU
    +
    setOffset in class SwerveIMU
    Parameters:
    -
    yaw - Yaw angle in degrees.
    +
    offset - gyro offset as a Rotation3d.
  • -
    -

    getYawPitchRoll

    -
    public void getYawPitchRoll(double[] yprArray)
    -
    Fetch the yaw/pitch/roll from the IMU.
    +
    +

    getRawRotation3d

    +
    public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
    Specified by:
    -
    getYawPitchRoll in class SwerveIMU
    -
    Parameters:
    -
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
    +
    getRawRotation3d in class SwerveIMU
    +
    Returns:
    +
    Rotation3d from the IMU.
    • diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index 910772c..cd79707 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,11 +1,11 @@ - + ADXRS450Swerve - + @@ -98,10 +98,10 @@ loadScripts(document, 'script');
    ADXRS450_Gyro device to read the current headings from.
    -
    private double
    -
    yawOffset
    +
    private edu.wpi.first.math.geometry.Rotation3d
    +
    offset
    -
    Offset for the ADXRS450 yaw reading.
    +
    Offset for the ADXRS450.
    @@ -153,19 +153,19 @@ loadScripts(document, 'script');
    Get the instantiated IMU object.
    edu.wpi.first.math.geometry.Rotation3d
    -
    getRotation3d()
    +
    getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    Fetch the Rotation3d from the IMU.
    -
    void
    -
    getYawPitchRoll(double[] yprArray)
    -
    -
    Fetch the yaw/pitch/roll from the IMU.
    -
    void
    -
    setYaw(double yaw)
    +
    setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    -
    Set the yaw in degrees.
    +
    Set the gyro offset.
    @@ -192,10 +192,10 @@ loadScripts(document, 'script');
  • -
    -

    yawOffset

    -
    private double yawOffset
    -
    Offset for the ADXRS450 yaw reading.
    +
    +

    offset

    +
    private edu.wpi.first.math.geometry.Rotation3d offset
    +
    Offset for the ADXRS450.
    • @@ -244,28 +244,28 @@ loadScripts(document, 'script');
  • -
    -

    setYaw

    -
    public void setYaw(double yaw)
    -
    Set the yaw in degrees.
    +
    +

    setOffset

    +
    public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    +
    Set the gyro offset.
    Specified by:
    -
    setYaw in class SwerveIMU
    +
    setOffset in class SwerveIMU
    Parameters:
    -
    yaw - Yaw angle in degrees.
    +
    offset - gyro offset as a Rotation3d.
  • -
    -

    getYawPitchRoll

    -
    public void getYawPitchRoll(double[] yprArray)
    -
    Fetch the yaw/pitch/roll from the IMU.
    +
    +

    getRawRotation3d

    +
    public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
    Specified by:
    -
    getYawPitchRoll in class SwerveIMU
    -
    Parameters:
    -
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
    +
    getRawRotation3d in class SwerveIMU
    +
    Returns:
    +
    Rotation3d from the IMU.
    • diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index da1a622..42f73bb 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,11 +1,11 @@ - + AnalogGyroSwerve - + @@ -98,10 +98,10 @@ loadScripts(document, 'script');
    Gyroscope object.
    -
    private double
    -
    yawOffset
    +
    private edu.wpi.first.math.geometry.Rotation3d
    +
    offset
    -
    The yaw offset for the gyroscope.
    +
    Offset for the analog gyro.
    @@ -153,19 +153,19 @@ loadScripts(document, 'script');
    Get the instantiated IMU object.
    edu.wpi.first.math.geometry.Rotation3d
    -
    getRotation3d()
    +
    getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    Fetch the Rotation3d from the IMU.
    -
    void
    -
    getYawPitchRoll(double[] yprArray)
    -
    -
    Fetch the yaw/pitch/roll from the IMU.
    -
    void
    -
    setYaw(double yaw)
    +
    setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    -
    Set the yaw in degrees.
    +
    Set the gyro offset.
    @@ -192,10 +192,10 @@ loadScripts(document, 'script');
  • -
    -

    yawOffset

    -
    private double yawOffset
    -
    The yaw offset for the gyroscope.
    +
    +

    offset

    +
    private edu.wpi.first.math.geometry.Rotation3d offset
    +
    Offset for the analog gyro.
    • @@ -248,28 +248,28 @@ loadScripts(document, 'script');
  • -
    -

    setYaw

    -
    public void setYaw(double yaw)
    -
    Set the yaw in degrees.
    +
    +

    setOffset

    +
    public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    +
    Set the gyro offset.
    Specified by:
    -
    setYaw in class SwerveIMU
    +
    setOffset in class SwerveIMU
    Parameters:
    -
    yaw - Yaw angle in degrees.
    +
    offset - gyro offset as a Rotation3d.
  • -
    -

    getYawPitchRoll

    -
    public void getYawPitchRoll(double[] yprArray)
    -
    Fetch the yaw/pitch/roll from the IMU.
    +
    +

    getRawRotation3d

    +
    public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
    Specified by:
    -
    getYawPitchRoll in class SwerveIMU
    -
    Parameters:
    -
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
    +
    getRawRotation3d in class SwerveIMU
    +
    Returns:
    +
    Rotation3d from the IMU.
    • diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index d65eff7..0524fab 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,11 +1,11 @@ - + NavXSwerve - + @@ -98,10 +98,10 @@ loadScripts(document, 'script');
    NavX IMU.
    -
    private double
    -
    yawOffset
    +
    private edu.wpi.first.math.geometry.Rotation3d
    +
    offset
    -
    Offset for the NavX yaw reading.
    +
    Offset for the NavX.
    @@ -153,19 +153,19 @@ loadScripts(document, 'script');
    Get the instantiated IMU object.
    edu.wpi.first.math.geometry.Rotation3d
    -
    getRotation3d()
    +
    getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    Fetch the Rotation3d from the IMU.
    -
    void
    -
    getYawPitchRoll(double[] yprArray)
    -
    -
    Fetch the yaw/pitch/roll from the IMU.
    -
    void
    -
    setYaw(double yaw)
    +
    setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    -
    Set the yaw in degrees.
    +
    Set the gyro offset.
    @@ -192,10 +192,10 @@ loadScripts(document, 'script');
  • -
    -

    yawOffset

    -
    private double yawOffset
    -
    Offset for the NavX yaw reading.
    +
    +

    offset

    +
    private edu.wpi.first.math.geometry.Rotation3d offset
    +
    Offset for the NavX.
    • @@ -248,28 +248,28 @@ loadScripts(document, 'script');
  • -
    -

    setYaw

    -
    public void setYaw(double yaw)
    -
    Set the yaw in degrees.
    +
    +

    setOffset

    +
    public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    +
    Set the gyro offset.
    Specified by:
    -
    setYaw in class SwerveIMU
    +
    setOffset in class SwerveIMU
    Parameters:
    -
    yaw - Yaw angle in degrees.
    +
    offset - gyro offset as a Rotation3d.
  • -
    -

    getYawPitchRoll

    -
    public void getYawPitchRoll(double[] yprArray)
    -
    Fetch the yaw/pitch/roll from the IMU.
    +
    +

    getRawRotation3d

    +
    public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
    Specified by:
    -
    getYawPitchRoll in class SwerveIMU
    -
    Parameters:
    -
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
    +
    getRawRotation3d in class SwerveIMU
    +
    Returns:
    +
    Rotation3d from the IMU.
    • diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index 9a725c6..e054279 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,11 +1,11 @@ - + Pigeon2Swerve - + @@ -98,6 +98,11 @@ loadScripts(document, 'script');
    Pigeon2 IMU device.
    +
    private edu.wpi.first.math.geometry.Rotation3d
    +
    offset
    +
    +
    Offset for the Pigeon 2.
    +
    @@ -153,19 +158,19 @@ loadScripts(document, 'script');
    Get the instantiated IMU object.
    edu.wpi.first.math.geometry.Rotation3d
    -
    getRotation3d()
    +
    getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    Fetch the Rotation3d from the IMU.
    -
    void
    -
    getYawPitchRoll(double[] yprArray)
    -
    -
    Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
    -
    void
    -
    setYaw(double yaw)
    +
    setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    -
    Set the yaw in degrees.
    +
    Set the gyro offset.
    @@ -191,6 +196,13 @@ loadScripts(document, 'script');
    Pigeon2 IMU device.
    +
  • +
    +

    offset

    +
    private edu.wpi.first.math.geometry.Rotation3d offset
    +
    Offset for the Pigeon 2.
    +
    +
    • @@ -254,28 +266,28 @@ loadScripts(document, 'script');
  • -
    -

    setYaw

    -
    public void setYaw(double yaw)
    -
    Set the yaw in degrees.
    +
    +

    setOffset

    +
    public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    +
    Set the gyro offset.
    Specified by:
    -
    setYaw in class SwerveIMU
    +
    setOffset in class SwerveIMU
    Parameters:
    -
    yaw - Angle in degrees.
    +
    offset - gyro offset as a Rotation3d.
  • -
    -

    getYawPitchRoll

    -
    public void getYawPitchRoll(double[] yprArray)
    -
    Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
    +
    +

    getRawRotation3d

    +
    public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
    Specified by:
    -
    getYawPitchRoll in class SwerveIMU
    -
    Parameters:
    -
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
    +
    getRawRotation3d in class SwerveIMU
    +
    Returns:
    +
    Rotation3d from the IMU.
    • diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index aa09c88..2050242 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,11 +1,11 @@ - + PigeonSwerve - + @@ -98,6 +98,11 @@ loadScripts(document, 'script');
    Pigeon v1 IMU device.
    +
    private edu.wpi.first.math.geometry.Rotation3d
    +
    offset
    +
    +
    Offset for the Pigeon.
    +
    @@ -148,19 +153,19 @@ loadScripts(document, 'script');
    Get the instantiated IMU object.
    edu.wpi.first.math.geometry.Rotation3d
    -
    getRotation3d()
    +
    getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    Fetch the Rotation3d from the IMU.
    -
    void
    -
    getYawPitchRoll(double[] yprArray)
    -
    -
    Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
    -
    void
    -
    setYaw(double yaw)
    +
    setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    -
    Set the yaw in degrees.
    +
    Set the gyro offset.
    @@ -186,6 +191,13 @@ loadScripts(document, 'script');
    Pigeon v1 IMU device.
    +
  • +
    +

    offset

    +
    private edu.wpi.first.math.geometry.Rotation3d offset
    +
    Offset for the Pigeon.
    +
    +
    • @@ -236,28 +248,28 @@ loadScripts(document, 'script');
  • -
    -

    setYaw

    -
    public void setYaw(double yaw)
    -
    Set the yaw in degrees.
    +
    +

    setOffset

    +
    public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    +
    Set the gyro offset.
    Specified by:
    -
    setYaw in class SwerveIMU
    +
    setOffset in class SwerveIMU
    Parameters:
    -
    yaw - Angle in degrees.
    +
    offset - gyro offset as a Rotation3d.
  • -
    -

    getYawPitchRoll

    -
    public void getYawPitchRoll(double[] yprArray)
    -
    Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
    +
    +

    getRawRotation3d

    +
    public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
    Specified by:
    -
    getYawPitchRoll in class SwerveIMU
    -
    Parameters:
    -
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
    +
    getRawRotation3d in class SwerveIMU
    +
    Returns:
    +
    Rotation3d from the IMU.
    • diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index 87e444f..e0da8aa 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,11 +1,11 @@ - + SwerveIMU - + @@ -131,19 +131,19 @@ loadScripts(document, 'script');
    Get the instantiated IMU object.
    abstract edu.wpi.first.math.geometry.Rotation3d
    -
    getRotation3d()
    +
    getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing.
    +
    +
    abstract edu.wpi.first.math.geometry.Rotation3d
    +
    getRotation3d()
    +
    Fetch the Rotation3d from the IMU.
    -
    abstract void
    -
    getYawPitchRoll(double[] yprArray)
    -
    -
    Fetch the yaw/pitch/roll from the IMU.
    -
    abstract void
    -
    setYaw(double yaw)
    +
    setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    -
    Set the yaw in degrees.
    +
    Set the gyro offset.
    @@ -191,24 +191,24 @@ loadScripts(document, 'script');
  • -
    -

    setYaw

    -
    public abstract void setYaw(double yaw)
    -
    Set the yaw in degrees.
    +
    +

    setOffset

    +
    public abstract void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
    +
    Set the gyro offset.
    Parameters:
    -
    yaw - Yaw angle in degrees.
    +
    offset - gyro offset as a Rotation3d.
  • -
    -

    getYawPitchRoll

    -
    public abstract void getYawPitchRoll(double[] yprArray)
    -
    Fetch the yaw/pitch/roll from the IMU.
    +
    +

    getRawRotation3d

    +
    public abstract edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
    +
    Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
    -
    Parameters:
    -
    yprArray - Array which will be filled with {yaw, pitch, roll} in degrees.
    +
    Returns:
    +
    Rotation3d from the IMU.
    • diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index fc9d5db..48eb855 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.imu - + diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index eda38a2..38191ea 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.imu Class Hierarchy - + diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html index 4a3de25..7951054 100644 --- a/docs/swervelib/math/Matter.html +++ b/docs/swervelib/math/Matter.html @@ -1,11 +1,11 @@ - + Matter - + diff --git a/docs/swervelib/math/SwerveKinematics2.html b/docs/swervelib/math/SwerveKinematics2.html index 030c8c6..321c800 100644 --- a/docs/swervelib/math/SwerveKinematics2.html +++ b/docs/swervelib/math/SwerveKinematics2.html @@ -1,11 +1,11 @@ - + SwerveKinematics2 - + diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index dde7ab4..8e9c90d 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,11 +1,11 @@ - + SwerveMath - + diff --git a/docs/swervelib/math/SwerveModuleState2.html b/docs/swervelib/math/SwerveModuleState2.html index 7e3ba13..596933f 100644 --- a/docs/swervelib/math/SwerveModuleState2.html +++ b/docs/swervelib/math/SwerveModuleState2.html @@ -1,11 +1,11 @@ - + SwerveModuleState2 - + diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index b2cde2c..273687d 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.math - + diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 8e9becf..54db6b4 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.math Class Hierarchy - + diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html index a6ed78e..cef7f80 100644 --- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html +++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxBrushedMotorSwerve - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index 5c5b1cf..e81afca 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index 3781637..0e4ad69 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve - + diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index 5741ea2..50eda8d 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,11 +1,11 @@ - + SwerveMotor - + diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index b8bc903..5c31262 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,11 +1,11 @@ - + TalonFXSwerve - + diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index 9b36712..fc853e9 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,11 +1,11 @@ - + TalonSRXSwerve - + diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index 1a69a69..f7abe17 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.motors - + diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index fba977b..5cf2de6 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.motors Class Hierarchy - + diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index daf1804..4f3dec2 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,11 +1,11 @@ - + swervelib - + diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index efd0afa..d3419ba 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,11 +1,11 @@ - + swervelib Class Hierarchy - + diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index 1eaf571..215bfa5 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,11 +1,11 @@ - + PIDFConfig - + diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index 130e2a1..b39b5db 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,11 +1,11 @@ - + SwerveControllerConfiguration - + diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index e73b26a..aec466c 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,11 +1,11 @@ - + SwerveDriveConfiguration - + diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index d92b138..097355b 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,11 +1,11 @@ - + SwerveModuleConfiguration - + diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 528fd34..b8d726a 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 56f853f..187b511 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 60391f0..8df733b 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 bc781ed..1ec8908 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 8a1971a..80433a5 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 69e147e..2614621 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 dabd700..795ed93 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 b1d1929..597bec8 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 c16cadf..a01481a 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 2f4779f..68d7836 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 22fb720..9f1d09b 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 8c62c29..9fad9a2 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 defff90..c9ae6e2 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 a781320..1dc00af 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 74d5e7b..f4483a2 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 8a344a6..8c9de06 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 c55d1f3..1364835 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 a1d08ec..aa15fdd 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 b3135d5..b4e7434 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 8b00ed1..3952c36 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 a86b2df..34ee35d 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 2262834..db139a2 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 152c318..35710e6 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 9fcc100..78a3f10 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 798662d..040a2f5 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 9ba1bc3..27dde19 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 ee692a6..64e94bf 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 bac6b7a..aac38e5 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 48fe2ed..3f59219 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 ddab880..f75c6ad 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 600f417..b6cffc1 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 b1f087a..5e18b38 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 c3f9559..6b0dc74 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 5be04f5..566319f 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 19d81a0..863ef29 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 356747d..e748973 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/SwerveDrive.java b/swervelib/SwerveDrive.java index 3ed9256..9319bb0 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -403,7 +403,7 @@ public class SwerveDrive // simulated if (!SwerveDriveTelemetry.isSimulation) { - imu.setYaw(0); + imu.setOffset(imu.getRawRotation3d()); } else { simIMU.setAngle(0); @@ -682,7 +682,7 @@ public class SwerveDrive if (!SwerveDriveTelemetry.isSimulation) { - imu.setYaw(swerveDrivePoseEstimator.getEstimatedPosition().getRotation().getDegrees()); + imu.setOffset(new Rotation3d(0, 0, swerveDrivePoseEstimator.getEstimatedPosition().getRotation().getRadians())); // Yaw reset recommended by Team 1622 } else { @@ -691,13 +691,13 @@ public class SwerveDrive } /** - * Set the Gyroscope offset using a {@link Rotation3d} object. (Only yaw works currently.) + * Set the Gyroscope offset using a {@link Rotation3d} object. * * @param gyro Gyroscope offset. */ public void setGyro(Rotation3d gyro) { - imu.setYaw(gyro.getZ()); + imu.setOffset(gyro); } } diff --git a/swervelib/imu/ADIS16448Swerve.java b/swervelib/imu/ADIS16448Swerve.java index 7b1b2ff..ed9ae42 100644 --- a/swervelib/imu/ADIS16448Swerve.java +++ b/swervelib/imu/ADIS16448Swerve.java @@ -17,9 +17,9 @@ public class ADIS16448Swerve extends SwerveIMU */ private final ADIS16448_IMU imu; /** - * Offset for the ADIS16448 yaw reading. + * Offset for the ADIS16448. */ - private double yawOffset = 0; + private Rotation3d offset = new Rotation3d(); /** * Construct the ADIS16448 imu and reset default configurations. Publish the gyro to the SmartDashboard. @@ -37,7 +37,9 @@ public class ADIS16448Swerve extends SwerveIMU @Override public void factoryDefault() { - yawOffset = (imu.getAngle() % 360); + offset = new Rotation3d( + Math.toRadians(imu.getYComplementaryAngle()), Math.toRadians(imu.getXComplementaryAngle()), + Math.toRadians(imu.getAngle())); } /** @@ -50,40 +52,36 @@ public class ADIS16448Swerve extends SwerveIMU } /** - * Set the yaw in degrees. + * Set the gyro offset. * - * @param yaw Yaw angle in degrees. + * @param offset gyro offset as a {@link Rotation3d}. */ - @Override - public void setYaw(double yaw) + public void setOffset(Rotation3d offset) { - yawOffset = (yaw % 360) + (imu.getAngle() % 360); + offset = getRotation3d(); } /** - * Fetch the yaw/pitch/roll from the IMU. + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. * - * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees. + * @return {@link Rotation3d} from the IMU. */ - @Override - public void getYawPitchRoll(double[] yprArray) + public Rotation3d getRawRotation3d() { - yprArray[0] = (imu.getAngle() % 360) - yawOffset; - yprArray[1] = imu.getXComplementaryAngle() % 360; - yprArray[2] = imu.getYComplementaryAngle() % 360; + return new Rotation3d( + Math.toRadians(imu.getYComplementaryAngle()), Math.toRadians(imu.getXComplementaryAngle()), + Math.toRadians(imu.getAngle())); } - /** * Fetch the {@link Rotation3d} from the IMU. Robot relative. * * @return {@link Rotation3d} from the IMU. */ + @Override public Rotation3d getRotation3d() { - return new Rotation3d( - imu.getYComplementaryAngle(), imu.getXComplementaryAngle(), imu.getAngle()) - .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset))); + return getRawRotation3d().minus(offset); } /** diff --git a/swervelib/imu/ADIS16470Swerve.java b/swervelib/imu/ADIS16470Swerve.java index d586872..eadfacd 100644 --- a/swervelib/imu/ADIS16470Swerve.java +++ b/swervelib/imu/ADIS16470Swerve.java @@ -17,9 +17,9 @@ public class ADIS16470Swerve extends SwerveIMU */ private final ADIS16470_IMU imu; /** - * Offset for the ADIS16470 yaw reading. + * Offset for the ADIS16470. */ - private double yawOffset = 0; + private Rotation3d offset = new Rotation3d(); /** * Construct the ADIS16470 imu and reset default configurations. Publish the gyro to the SmartDashboard. @@ -27,6 +27,7 @@ public class ADIS16470Swerve extends SwerveIMU public ADIS16470Swerve() { imu = new ADIS16470_IMU(); + offset = new Rotation3d(); factoryDefault(); SmartDashboard.putData(imu); } @@ -37,7 +38,9 @@ public class ADIS16470Swerve extends SwerveIMU @Override public void factoryDefault() { - yawOffset = imu.getAngle() % 360; + offset = new Rotation3d( + Math.toRadians(imu.getYComplementaryAngle()), Math.toRadians(imu.getXComplementaryAngle()), + Math.toRadians(imu.getAngle())); } /** @@ -50,27 +53,25 @@ public class ADIS16470Swerve extends SwerveIMU } /** - * Set the yaw in degrees. + * Set the gyro offset. * - * @param yaw Yaw angle in degrees. + * @param offset gyro offset as a {@link Rotation3d}. */ - @Override - public void setYaw(double yaw) + public void setOffset(Rotation3d offset) { - yawOffset = (yaw % 360) + (imu.getAngle() % 360); + offset = getRotation3d(); } /** - * Fetch the yaw/pitch/roll from the IMU. + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. * - * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees. + * @return {@link Rotation3d} from the IMU. */ - @Override - public void getYawPitchRoll(double[] yprArray) + public Rotation3d getRawRotation3d() { - yprArray[0] = (imu.getAngle() % 360) - yawOffset; - yprArray[1] = imu.getXComplementaryAngle() % 360; - yprArray[2] = imu.getYComplementaryAngle() % 360; + return new Rotation3d( + Math.toRadians(imu.getYComplementaryAngle()), Math.toRadians(imu.getXComplementaryAngle()), + Math.toRadians(imu.getAngle())); } /** @@ -78,11 +79,10 @@ public class ADIS16470Swerve extends SwerveIMU * * @return {@link Rotation3d} from the IMU. */ + @Override public Rotation3d getRotation3d() { - return new Rotation3d( - imu.getYComplementaryAngle(), imu.getXComplementaryAngle(), imu.getAngle()) - .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset))); + return getRawRotation3d().minus(offset); } /** diff --git a/swervelib/imu/ADXRS450Swerve.java b/swervelib/imu/ADXRS450Swerve.java index 0af120b..699470f 100644 --- a/swervelib/imu/ADXRS450Swerve.java +++ b/swervelib/imu/ADXRS450Swerve.java @@ -17,9 +17,9 @@ public class ADXRS450Swerve extends SwerveIMU */ private final ADXRS450_Gyro imu; /** - * Offset for the ADXRS450 yaw reading. + * Offset for the ADXRS450. */ - private double yawOffset = 0; + private Rotation3d offset = new Rotation3d(); /** * Construct the ADXRS450 imu and reset default configurations. Publish the gyro to the SmartDashboard. @@ -37,7 +37,7 @@ public class ADXRS450Swerve extends SwerveIMU @Override public void factoryDefault() { - yawOffset = imu.getAngle() % 360; + offset = new Rotation3d(0, 0, Math.toRadians(imu.getAngle())); } /** @@ -50,27 +50,23 @@ public class ADXRS450Swerve extends SwerveIMU } /** - * Set the yaw in degrees. + * Set the gyro offset. * - * @param yaw Yaw angle in degrees. + * @param offset gyro offset as a {@link Rotation3d}. */ - @Override - public void setYaw(double yaw) + public void setOffset(Rotation3d offset) { - yawOffset = (yaw % 360) + (imu.getAngle() % 360); + offset = getRotation3d(); } /** - * Fetch the yaw/pitch/roll from the IMU. + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. * - * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees. + * @return {@link Rotation3d} from the IMU. */ - @Override - public void getYawPitchRoll(double[] yprArray) + public Rotation3d getRawRotation3d() { - yprArray[0] = (imu.getAngle() % 360) - yawOffset; - yprArray[1] = 0; - yprArray[2] = 0; + return new Rotation3d(0, 0, Math.toRadians(imu.getAngle())); } /** @@ -78,10 +74,10 @@ public class ADXRS450Swerve extends SwerveIMU * * @return {@link Rotation3d} from the IMU. */ + @Override public Rotation3d getRotation3d() { - return new Rotation3d(0, 0, imu.getAngle()) - .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset))); + return getRawRotation3d().minus(offset); } /** diff --git a/swervelib/imu/AnalogGyroSwerve.java b/swervelib/imu/AnalogGyroSwerve.java index e114062..ee55a18 100644 --- a/swervelib/imu/AnalogGyroSwerve.java +++ b/swervelib/imu/AnalogGyroSwerve.java @@ -17,9 +17,9 @@ public class AnalogGyroSwerve extends SwerveIMU */ private final AnalogGyro gyro; /** - * The yaw offset for the gyroscope. + * Offset for the analog gyro. */ - private double yawOffset; + private Rotation3d offset = new Rotation3d(); /** * Analog port in which the gyroscope is connected. Can only be attached to analog ports 0 or 1. @@ -34,8 +34,8 @@ public class AnalogGyroSwerve extends SwerveIMU "Analog Gyroscope must be attached to port 0 or 1 on the roboRIO.\n"); } gyro = new AnalogGyro(channel); - SmartDashboard.putData(gyro); factoryDefault(); + SmartDashboard.putData(gyro); } /** @@ -44,7 +44,7 @@ public class AnalogGyroSwerve extends SwerveIMU @Override public void factoryDefault() { - yawOffset = gyro.getAngle() % 360; + offset = new Rotation3d(0, 0, Math.toRadians(gyro.getAngle())); } /** @@ -57,27 +57,23 @@ public class AnalogGyroSwerve extends SwerveIMU } /** - * Set the yaw in degrees. + * Set the gyro offset. * - * @param yaw Yaw angle in degrees. + * @param offset gyro offset as a {@link Rotation3d}. */ - @Override - public void setYaw(double yaw) + public void setOffset(Rotation3d offset) { - yawOffset = (yaw % 360) + (gyro.getAngle() % 360); + offset = getRotation3d(); } /** - * Fetch the yaw/pitch/roll from the IMU. + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. * - * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees. + * @return {@link Rotation3d} from the IMU. */ - @Override - public void getYawPitchRoll(double[] yprArray) + public Rotation3d getRawRotation3d() { - yprArray[0] = (gyro.getAngle() % 360) - yawOffset; - yprArray[1] = 0; - yprArray[2] = 0; + return new Rotation3d(0, 0, Math.toRadians(gyro.getAngle())); } /** @@ -85,10 +81,10 @@ public class AnalogGyroSwerve extends SwerveIMU * * @return {@link Rotation3d} from the IMU. */ + @Override public Rotation3d getRotation3d() { - return new Rotation3d(0, 0, gyro.getAngle()) - .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset))); + return getRawRotation3d().minus(offset); } /** diff --git a/swervelib/imu/NavXSwerve.java b/swervelib/imu/NavXSwerve.java index 0e6b9ed..bb0bbbf 100644 --- a/swervelib/imu/NavXSwerve.java +++ b/swervelib/imu/NavXSwerve.java @@ -18,11 +18,11 @@ public class NavXSwerve extends SwerveIMU /** * NavX IMU. */ - private AHRS gyro; + private AHRS gyro; /** - * Offset for the NavX yaw reading. + * Offset for the NavX. */ - private double yawOffset = 0; + private Rotation3d offset = new Rotation3d(); /** * Constructor for the NavX swerve. @@ -37,6 +37,7 @@ public class NavXSwerve extends SwerveIMU /* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */ /* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */ gyro = new AHRS(port); + factoryDefault(); SmartDashboard.putData(gyro); } catch (RuntimeException ex) { @@ -51,7 +52,10 @@ public class NavXSwerve extends SwerveIMU public void factoryDefault() { // gyro.reset(); // Reported to be slow - yawOffset = gyro.getYaw() % 360; + offset = new Rotation3d(new Quaternion(gyro.getQuaternionW(), + gyro.getQuaternionX(), + gyro.getQuaternionY(), + gyro.getQuaternionZ())); } /** @@ -63,29 +67,26 @@ public class NavXSwerve extends SwerveIMU } /** - * Set the yaw in degrees. + * Set the gyro offset. * - * @param yaw Yaw angle in degrees. + * @param offset gyro offset as a {@link Rotation3d}. */ - @Override - public void setYaw(double yaw) + public void setOffset(Rotation3d offset) { - // gyro.reset(); // Reported to be slow using the offset. - yawOffset = (yaw % 360) + (gyro.getYaw() % 360); + offset = getRotation3d(); } /** - * Fetch the yaw/pitch/roll from the IMU. + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. * - * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees. + * @return {@link Rotation3d} from the IMU. */ - @Override - public void getYawPitchRoll(double[] yprArray) + public Rotation3d getRawRotation3d() { - - yprArray[0] = (gyro.getYaw() % 360) - yawOffset; - yprArray[1] = (gyro.getPitch() % 360); - yprArray[2] = (gyro.getRoll() % 360); + return new Rotation3d(new Quaternion(gyro.getQuaternionW(), + gyro.getQuaternionX(), + gyro.getQuaternionY(), + gyro.getQuaternionZ())); } /** @@ -93,13 +94,10 @@ public class NavXSwerve extends SwerveIMU * * @return {@link Rotation3d} from the IMU. */ + @Override public Rotation3d getRotation3d() { - return new Rotation3d(new Quaternion(gyro.getQuaternionW(), - gyro.getQuaternionX(), - gyro.getQuaternionY(), - gyro.getQuaternionZ())) - .minus(new Rotation3d(0, 0, Math.toRadians(yawOffset))); + return getRawRotation3d().minus(offset); } /** diff --git a/swervelib/imu/Pigeon2Swerve.java b/swervelib/imu/Pigeon2Swerve.java index e865c87..2c60c55 100644 --- a/swervelib/imu/Pigeon2Swerve.java +++ b/swervelib/imu/Pigeon2Swerve.java @@ -18,6 +18,10 @@ public class Pigeon2Swerve extends SwerveIMU * Pigeon2 IMU device. */ WPI_Pigeon2 imu; + /** + * Offset for the Pigeon 2. + */ + private Rotation3d offset = new Rotation3d(); /** * Generate the SwerveIMU for pigeon. @@ -62,25 +66,26 @@ public class Pigeon2Swerve extends SwerveIMU } /** - * Set the yaw in degrees. + * Set the gyro offset. * - * @param yaw Angle in degrees. + * @param offset gyro offset as a {@link Rotation3d}. */ - @Override - public void setYaw(double yaw) + public void setOffset(Rotation3d offset) { - imu.setYaw(yaw); + offset = getRotation3d(); } /** - * Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted. + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. * - * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees. + * @return {@link Rotation3d} from the IMU. */ @Override - public void getYawPitchRoll(double[] yprArray) + public Rotation3d getRawRotation3d() { - imu.getYawPitchRoll(yprArray); + double[] wxyz = new double[4]; + imu.get6dQuaternion(wxyz); + return new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3])); } /** @@ -91,9 +96,7 @@ public class Pigeon2Swerve extends SwerveIMU @Override public Rotation3d getRotation3d() { - double[] wxyz = new double[4]; - imu.get6dQuaternion(wxyz); - return new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3])); + return getRawRotation3d().minus(offset); } /** diff --git a/swervelib/imu/PigeonSwerve.java b/swervelib/imu/PigeonSwerve.java index 64cd3de..32a7071 100644 --- a/swervelib/imu/PigeonSwerve.java +++ b/swervelib/imu/PigeonSwerve.java @@ -17,6 +17,10 @@ public class PigeonSwerve extends SwerveIMU * Pigeon v1 IMU device. */ WPI_PigeonIMU imu; + /** + * Offset for the Pigeon. + */ + private Rotation3d offset = new Rotation3d(); /** * Generate the SwerveIMU for pigeon. @@ -26,6 +30,7 @@ public class PigeonSwerve extends SwerveIMU public PigeonSwerve(int canid) { imu = new WPI_PigeonIMU(canid); + offset = new Rotation3d(); SmartDashboard.putData(imu); } @@ -48,25 +53,26 @@ public class PigeonSwerve extends SwerveIMU } /** - * Set the yaw in degrees. + * Set the gyro offset. * - * @param yaw Angle in degrees. + * @param offset gyro offset as a {@link Rotation3d}. */ - @Override - public void setYaw(double yaw) + public void setOffset(Rotation3d offset) { - imu.setYaw(yaw); + offset = getRotation3d(); } /** - * Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted. + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. * - * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees. + * @return {@link Rotation3d} from the IMU. */ @Override - public void getYawPitchRoll(double[] yprArray) + public Rotation3d getRawRotation3d() { - imu.getYawPitchRoll(yprArray); + double[] wxyz = new double[4]; + imu.get6dQuaternion(wxyz); + return new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3])); } /** @@ -77,9 +83,7 @@ public class PigeonSwerve extends SwerveIMU @Override public Rotation3d getRotation3d() { - double[] wxyz = new double[4]; - imu.get6dQuaternion(wxyz); - return new Rotation3d(new Quaternion(wxyz[0], wxyz[1], wxyz[2], wxyz[3])); + return getRawRotation3d().minus(offset); } /** diff --git a/swervelib/imu/SwerveIMU.java b/swervelib/imu/SwerveIMU.java index 1dd98af..11b39da 100644 --- a/swervelib/imu/SwerveIMU.java +++ b/swervelib/imu/SwerveIMU.java @@ -21,18 +21,18 @@ public abstract class SwerveIMU public abstract void clearStickyFaults(); /** - * Set the yaw in degrees. + * Set the gyro offset. * - * @param yaw Yaw angle in degrees. + * @param offset gyro offset as a {@link Rotation3d}. */ - public abstract void setYaw(double yaw); + public abstract void setOffset(Rotation3d offset); /** - * Fetch the yaw/pitch/roll from the IMU. + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. * - * @param yprArray Array which will be filled with {yaw, pitch, roll} in degrees. + * @return {@link Rotation3d} from the IMU. */ - public abstract void getYawPitchRoll(double[] yprArray); + public abstract Rotation3d getRawRotation3d(); /** * Fetch the {@link Rotation3d} from the IMU. Robot relative.