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Removed IEEE remainder for set position

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thenetworkgrinch
2023-02-27 21:45:50 -06:00
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commit ef58f545df
111 changed files with 565 additions and 366 deletions
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@@ -226,6 +226,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the CAN status frames.</div>
</dd>
<dt><a href="../swervelib/motors/TalonFXSwerve.html#configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)" class="member-name-link">configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonFXSwerve.html" title="class in swervelib.motors">TalonFXSwerve</a></dt>
<dd>
<div class="block">Set the CAN status frames.</div>
</dd>
<dt><a href="../swervelib/motors/TalonSRXSwerve.html#configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)" class="member-name-link">configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/TalonSRXSwerve.html" title="class in swervelib.motors">TalonSRXSwerve</a></dt>
<dd>
<div class="block">Set the CAN status frames.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#configureIntegratedEncoder(double)" class="member-name-link">configureIntegratedEncoder(double)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>
<div class="block">Configure the integrated encoder for the swerve module.</div>

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<title>F-Index</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<title>G-Index</title>
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@@ -147,7 +147,7 @@ loadScripts(document, 'script');</script>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#getModulePositions()" class="member-name-link">getModulePositions()</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Gets the current module positions (azimuth and wheel position (meters))</div>
<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#getMotor()" class="member-name-link">getMotor()</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>

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@@ -109,6 +109,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Invert the imu measurements.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#invertOdometry" class="member-name-link">invertOdometry</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Invert odometry readings of drive motor positions, used as a patch for debugging currently.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder()</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>Overview</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="package index">
<meta name="generator" content="javadoc/PackageIndexWriter">
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<head>
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<title>Generated Documentation (Untitled)</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="index redirect">
<meta name="generator" content="javadoc/IndexRedirectWriter">
<link rel="canonical" href="index.html">

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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
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<title>Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<meta name="description" content="class tree">
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<html lang="en">
<head>
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<title>SwerveController</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib, class: SwerveController">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>SwerveDrive</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib, class: SwerveDrive">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../stylesheet.css" title="Style">
@@ -101,55 +101,60 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color">
<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
</div>
<div class="col-first even-row-color"><code>final <a href="math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></code></div>
<div class="col-second even-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
<div class="col-first even-row-color"><code>boolean</code></div>
<div class="col-second even-row-color"><code><a href="#invertOdometry" class="member-name-link">invertOdometry</a></code></div>
<div class="col-last even-row-color">
<div class="block">Invert odometry readings of drive motor positions, used as a patch for debugging currently.</div>
</div>
<div class="col-first odd-row-color"><code>final <a href="math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></code></div>
<div class="col-second odd-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private double</code></div>
<div class="col-second even-row-color"><code><a href="#lastHeadingRadians" class="member-name-link">lastHeadingRadians</a></code></div>
<div class="col-last even-row-color">
<div class="block">The last heading set in radians.</div>
</div>
<div class="col-first even-row-color"><code>private int</code></div>
<div class="col-second even-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private int</code></div>
<div class="col-second odd-row-color"><code><a href="#moduleSynchronizationCounter" class="member-name-link">moduleSynchronizationCounter</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Counter to synchronize the modules relative encoder with absolute encoder when not moving.</div>
</div>
<div class="col-first odd-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
<div class="col-second odd-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>private <a href="simulation/SwerveIMUSimulation.html" title="class in swervelib.simulation">SwerveIMUSimulation</a></code></div>
<div class="col-second even-row-color"><code><a href="#simIMU" class="member-name-link">simIMU</a></code></div>
<div class="col-last even-row-color">
<div class="block">Simulation of the swerve drive.</div>
</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#stateStdDevs" class="member-name-link">stateStdDevs</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
<div class="col-second odd-row-color"><code><a href="#stateStdDevs" class="member-name-link">stateStdDevs</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Trustworthiness of the internal model of how motors should be moving Measured in expected standard deviation
(meters of position and degrees of rotation)</div>
</div>
<div class="col-first odd-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
<div class="col-second even-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve controller for controlling heading of the robot.</div>
</div>
<div class="col-first even-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
<div class="col-second even-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
<div class="col-second odd-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve drive configuration.</div>
</div>
<div class="col-first odd-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
<div class="col-second odd-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>final edu.wpi.first.math.estimator.SwerveDrivePoseEstimator</code></div>
<div class="col-second even-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
<div class="col-last even-row-color">
<div class="block">Swerve odometry.</div>
</div>
<div class="col-first even-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second even-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
<div class="col-last even-row-color">
<div class="col-first odd-row-color"><code>private final <a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#swerveModules" class="member-name-link">swerveModules</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve modules.</div>
</div>
<div class="col-first odd-row-color"><code>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
<div class="col-second odd-row-color"><code><a href="#visionMeasurementStdDevs" class="member-name-link">visionMeasurementStdDevs</a></code></div>
<div class="col-last odd-row-color">
<div class="col-first even-row-color"><code>edu.wpi.first.math.Matrix&lt;edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#visionMeasurementStdDevs" class="member-name-link">visionMeasurementStdDevs</a></code></div>
<div class="col-last even-row-color">
<div class="block">Trustworthiness of the vision system Measured in expected standard deviation (meters of position and degrees of
rotation)</div>
</div>
@@ -222,7 +227,7 @@ loadScripts(document, 'script');</script>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
<div class="col-second odd-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>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Gets the current module positions (azimuth and wheel position (meters))</div>
<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
@@ -386,6 +391,13 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="invertOdometry">
<h3>invertOdometry</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertOdometry</span></div>
<div class="block">Invert odometry readings of drive motor positions, used as a patch for debugging currently.</div>
</section>
</li>
<li>
<section class="detail" id="imu">
<h3>imu</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type"><a href="imu/SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span>&nbsp;<span class="element-name">imu</span></div>
@@ -594,7 +606,8 @@ loadScripts(document, 'script');</script>
<section class="detail" id="getModulePositions()">
<h3>getModulePositions</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModulePosition[]</span>&nbsp;<span class="element-name">getModulePositions</span>()</div>
<div class="block">Gets the current module positions (azimuth and wheel position (meters))</div>
<div class="block">Gets the current module positions (azimuth and wheel position (meters)). Inverts the distance from each module if
<a href="#invertOdometry"><code>invertOdometry</code></a> is true.</div>
<dl class="notes">
<dt>Returns:</dt>
<dd>A list of SwerveModulePositions containg the current module positions</dd>
@@ -719,7 +732,7 @@ loadScripts(document, 'script');</script>
boolean&nbsp;soft,
double&nbsp;trustWorthiness)</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>
the given timestamp of the vision measurement.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>robotPose</code> - Robot <code>Pose2d</code> as measured by vision.</dd>

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<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib, class: SwerveModule">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<meta name="description" content="declaration: package: swervelib.encoders, class: CANCoderSwerve">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.encoders, class: SparkMaxEncoderSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.encoders, class: SwerveAbsoluteEncoder">
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<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.encoders">
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<meta name="dc.created" content="2023-02-25">
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<meta name="description" content="tree: package: swervelib.encoders">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16448Swerve">
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<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.imu, class: ADIS16470Swerve">
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<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.imu, class: ADXRS450Swerve">
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<title>AnalogGyroSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.imu, class: AnalogGyroSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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4
docs/swervelib/imu/NavXSwerve.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.imu, class: NavXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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docs/swervelib/imu/Pigeon2Swerve.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>Pigeon2Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.imu, class: Pigeon2Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>PigeonSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>swervelib.imu</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>swervelib.imu Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="tree: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageTreeWriter">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>Matter</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.math, class: Matter">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/math/SwerveKinematics2.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>SwerveKinematics2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveKinematics2">
<meta name="generator" content="javadoc/ClassWriterImpl">
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4
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>SwerveMath</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveMath">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>SwerveModuleState2</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveModuleState2">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>swervelib.math</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.math">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>swervelib.math Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<meta name="description" content="tree: package: swervelib.math">
<meta name="generator" content="javadoc/PackageTreeWriter">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

4
docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
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@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>SparkMaxBrushedMotorSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxBrushedMotorSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>SparkMaxSwerve.SparkMAX_slotIdx</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve, enum: SparkMAX_slotIdx">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>SparkMaxSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>SwerveMotor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.motors, class: SwerveMotor">
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docs/swervelib/motors/TalonFXSwerve.html
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>TalonFXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonFXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -188,102 +188,117 @@ loadScripts(document, 'script');</script>
<div class="block">Set the CAN status frames.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureIntegratedEncoder(double)" class="member-name-link">configureIntegratedEncoder</a><wbr>(double&nbsp;positionConversionFactor)</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)" class="member-name-link">configureCANStatusFrames</a><wbr>(int&nbsp;CANStatus1,
int&nbsp;CANStatus2,
int&nbsp;CANStatus3,
int&nbsp;CANStatus4,
int&nbsp;CANStatus8,
int&nbsp;CANStatus10,
int&nbsp;CANStatus12,
int&nbsp;CANStatus13,
int&nbsp;CANStatus14,
int&nbsp;CANStatus21,
int&nbsp;CANStatusCurrent)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the integrated encoder for the swerve module.</div>
<div class="block">Set the CAN status frames.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDF(swervelib.parser.PIDFConfig)" class="member-name-link">configurePIDF</a><wbr>(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureIntegratedEncoder(double)" class="member-name-link">configureIntegratedEncoder</a><wbr>(double&nbsp;positionConversionFactor)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the integrated encoder for the swerve module.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDF(swervelib.parser.PIDFConfig)" class="member-name-link">configurePIDF</a><wbr>(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the PIDF values for the closed loop controller.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDWrapping(double,double)" class="member-name-link">configurePIDWrapping</a><wbr>(double&nbsp;minInput,
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDWrapping(double,double)" class="member-name-link">configurePIDWrapping</a><wbr>(double&nbsp;minInput,
double&nbsp;maxInput)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#convertToNativeSensorUnits(double)" class="member-name-link">convertToNativeSensorUnits</a><wbr>(double&nbsp;setpoint)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#convertToNativeSensorUnits(double)" class="member-name-link">convertToNativeSensorUnits</a><wbr>(double&nbsp;setpoint)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Convert the setpoint into native sensor units.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the factory defaults.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the motor object from the module.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the position of the integrated encoder.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVelocity()" class="member-name-link">getVelocity</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVelocity()" class="member-name-link">getVelocity</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the velocity of the integrated encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
double&nbsp;newAngle)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Put an angle within the the 360 deg scope of a reference.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the percentage output.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the motor to be inverted.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the idle mode.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the integrated encoder position.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the closed loop PID controller reference point.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</div>
</div>
@@ -497,6 +512,38 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)">
<h3>configureCANStatusFrames</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configureCANStatusFrames</span><wbr><span class="parameters">(int&nbsp;CANStatus1,
int&nbsp;CANStatus2,
int&nbsp;CANStatus3,
int&nbsp;CANStatus4,
int&nbsp;CANStatus8,
int&nbsp;CANStatus10,
int&nbsp;CANStatus12,
int&nbsp;CANStatus13,
int&nbsp;CANStatus14,
int&nbsp;CANStatus21,
int&nbsp;CANStatusCurrent)</span></div>
<div class="block">Set the CAN status frames.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>CANStatus1</code> - Applied Motor Output, Fault Information, Limit Switch Information</dd>
<dd><code>CANStatus2</code> - Selected Sensor Position (PID 0), Selected Sensor Velocity (PID 0), Brushed Supply Current
Measurement, Sticky Fault Information</dd>
<dd><code>CANStatus3</code> - Quadrature Information</dd>
<dd><code>CANStatus4</code> - Analog Input, Supply Battery Voltage, Controller Temperature</dd>
<dd><code>CANStatus8</code> - Pulse Width Information</dd>
<dd><code>CANStatus10</code> - Motion Profiling/Motion Magic Information</dd>
<dd><code>CANStatus12</code> - Selected Sensor Position (Aux PID 1), Selected Sensor Velocity (Aux PID 1)</dd>
<dd><code>CANStatus13</code> - PID0 (Primary PID) Information</dd>
<dd><code>CANStatus14</code> - PID1 (Auxiliary PID) Information</dd>
<dd><code>CANStatus21</code> - Integrated Sensor Position (Talon FX), Integrated Sensor Velocity (Talon FX)</dd>
<dd><code>CANStatusCurrent</code> - Brushless Supply Current Measurement, Brushless Stator Current Measurement</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="configurePIDF(swervelib.parser.PIDFConfig)">
<h3>configurePIDF</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configurePIDF</span><wbr><span class="parameters">(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</span></div>

159
docs/swervelib/motors/TalonSRXSwerve.html
View File

@@ -1,11 +1,11 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Feb 25 23:34:24 CST 2023 -->
<!-- Generated by javadoc (17) on Mon Feb 27 21:44:54 CST 2023 -->
<title>TalonSRXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.motors, class: TalonSRXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -182,102 +182,117 @@ loadScripts(document, 'script');</script>
<div class="block">Set the CAN status frames.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureIntegratedEncoder(double)" class="member-name-link">configureIntegratedEncoder</a><wbr>(double&nbsp;positionConversionFactor)</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)" class="member-name-link">configureCANStatusFrames</a><wbr>(int&nbsp;CANStatus1,
int&nbsp;CANStatus2,
int&nbsp;CANStatus3,
int&nbsp;CANStatus4,
int&nbsp;CANStatus8,
int&nbsp;CANStatus10,
int&nbsp;CANStatus12,
int&nbsp;CANStatus13,
int&nbsp;CANStatus14,
int&nbsp;CANStatus21,
int&nbsp;CANStatusCurrent)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the integrated encoder for the swerve module.</div>
<div class="block">Set the CAN status frames.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDF(swervelib.parser.PIDFConfig)" class="member-name-link">configurePIDF</a><wbr>(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configureIntegratedEncoder(double)" class="member-name-link">configureIntegratedEncoder</a><wbr>(double&nbsp;positionConversionFactor)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the integrated encoder for the swerve module.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDF(swervelib.parser.PIDFConfig)" class="member-name-link">configurePIDF</a><wbr>(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the PIDF values for the closed loop controller.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDWrapping(double,double)" class="member-name-link">configurePIDWrapping</a><wbr>(double&nbsp;minInput,
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#configurePIDWrapping(double,double)" class="member-name-link">configurePIDWrapping</a><wbr>(double&nbsp;minInput,
double&nbsp;maxInput)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the PID wrapping for the position closed loop controller.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#convertToNativeSensorUnits(double)" class="member-name-link">convertToNativeSensorUnits</a><wbr>(double&nbsp;setpoint)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#convertToNativeSensorUnits(double)" class="member-name-link">convertToNativeSensorUnits</a><wbr>(double&nbsp;setpoint)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Convert the setpoint into native sensor units.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefaults()" class="member-name-link">factoryDefaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Configure the factory defaults.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the motor object from the module.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the position of the integrated encoder.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVelocity()" class="member-name-link">getVelocity</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVelocity()" class="member-name-link">getVelocity</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the velocity of the integrated encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isAttachedAbsoluteEncoder()" class="member-name-link">isAttachedAbsoluteEncoder</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Queries whether the absolute encoder is directly attached to the motor controller.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>private double</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#placeInAppropriate0To360Scope(double,double)" class="member-name-link">placeInAppropriate0To360Scope</a><wbr>(double&nbsp;scopeReference,
double&nbsp;newAngle)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Put an angle within the the 360 deg scope of a reference.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#set(double)" class="member-name-link">set</a><wbr>(double&nbsp;percentOutput)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the percentage output.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setAbsoluteEncoder(swervelib.encoders.SwerveAbsoluteEncoder)" class="member-name-link">setAbsoluteEncoder</a><wbr>(<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;encoder)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the absolute encoder to be a compatible absolute encoder.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setCurrentLimit(int)" class="member-name-link">setCurrentLimit</a><wbr>(int&nbsp;currentLimit)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;inverted)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the motor to be inverted.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setLoopRampRate(double)" class="member-name-link">setLoopRampRate</a><wbr>(double&nbsp;rampRate)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the maximum rate the open/closed loop output can change by.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorBrake(boolean)" class="member-name-link">setMotorBrake</a><wbr>(boolean&nbsp;isBrakeMode)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the idle mode.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;position)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the integrated encoder position.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setReference(double,double)" class="member-name-link">setReference</a><wbr>(double&nbsp;setpoint,
double&nbsp;feedforward)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the closed loop PID controller reference point.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation</a><wbr>(double&nbsp;nominalVoltage)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the voltage compensation for the swerve module motor.</div>
</div>
</div>
@@ -476,6 +491,38 @@ loadScripts(document, 'script');</script>
</section>
</li>
<li>
<section class="detail" id="configureCANStatusFrames(int,int,int,int,int,int,int,int,int,int,int)">
<h3>configureCANStatusFrames</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configureCANStatusFrames</span><wbr><span class="parameters">(int&nbsp;CANStatus1,
int&nbsp;CANStatus2,
int&nbsp;CANStatus3,
int&nbsp;CANStatus4,
int&nbsp;CANStatus8,
int&nbsp;CANStatus10,
int&nbsp;CANStatus12,
int&nbsp;CANStatus13,
int&nbsp;CANStatus14,
int&nbsp;CANStatus21,
int&nbsp;CANStatusCurrent)</span></div>
<div class="block">Set the CAN status frames.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>CANStatus1</code> - Applied Motor Output, Fault Information, Limit Switch Information</dd>
<dd><code>CANStatus2</code> - Selected Sensor Position (PID 0), Selected Sensor Velocity (PID 0), Brushed Supply Current
Measurement, Sticky Fault Information</dd>
<dd><code>CANStatus3</code> - Quadrature Information</dd>
<dd><code>CANStatus4</code> - Analog Input, Supply Battery Voltage, Controller Temperature</dd>
<dd><code>CANStatus8</code> - Pulse Width Information</dd>
<dd><code>CANStatus10</code> - Motion Profiling/Motion Magic Information</dd>
<dd><code>CANStatus12</code> - Selected Sensor Position (Aux PID 1), Selected Sensor Velocity (Aux PID 1)</dd>
<dd><code>CANStatus13</code> - PID0 (Primary PID) Information</dd>
<dd><code>CANStatus14</code> - PID1 (Auxiliary PID) Information</dd>
<dd><code>CANStatus21</code> - Integrated Sensor Position (Talon FX), Integrated Sensor Velocity (Talon FX)</dd>
<dd><code>CANStatusCurrent</code> - Brushless Supply Current Measurement, Brushless Stator Current Measurement</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="configurePIDF(swervelib.parser.PIDFConfig)">
<h3>configurePIDF</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">configurePIDF</span><wbr><span class="parameters">(<a href="../parser/PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;config)</span></div>

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<title>swervelib.motors</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<meta name="description" content="declaration: package: swervelib.motors">
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<title>swervelib.motors Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<title>swervelib</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<title>swervelib Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<title>PIDFConfig</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.parser, class: PIDFConfig">
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<title>SwerveControllerConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveControllerConfiguration">
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<title>SwerveDriveConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<meta name="description" content="declaration: package: swervelib.parser, class: SwerveDriveConfiguration">
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<title>SwerveModuleConfiguration</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<title>SwerveModulePhysicalCharacteristics</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.parser, class: SwerveModulePhysicalCharacteristics">
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<title>SwerveParser</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<meta name="description" content="declaration: package: swervelib.parser, class: SwerveParser">
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<title>PIDFRange</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
<meta name="dc.created" content="2023-02-27">
<meta name="description" content="declaration: package: swervelib.parser.deserializer, class: PIDFRange">
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<title>swervelib.parser.deserializer</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<title>swervelib.parser.deserializer Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<title>ControllerPropertiesJson</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-25">
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<meta name="description" content="declaration: package: swervelib.parser.json, class: ControllerPropertiesJson">
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