diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index 6c18c43..27891eb 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 8892fa0..69ea945 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 b894a2d..406756f 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 42aad16..b5deda4 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 95d9dcb..0760150 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 6f8b47c..6d16925 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 bb18210..cd4ad90 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index 12e6bd9..6ae4a18 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 25e6371..5124120 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 20c1f36..d1f6967 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 250cee7..602390f 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + @@ -181,6 +181,14 @@ loadScripts(document, 'script');
Post the trajectory to the field
+
pushOffsetsToControllers() - Method in class swervelib.SwerveDrive
+
+
Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
+
+
pushOffsetsToControllers() - Method in class swervelib.SwerveModule
+
+
Push absolute encoder offset in the memory of the encoder or controller.
+
PWMDutyCycleEncoderSwerve - Class in swervelib.encoders
DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 23bef5d..4d47c1d 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + Q-Index - + diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 7f9e14e..ec5e033 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + R-Index - + @@ -78,6 +78,14 @@ loadScripts(document, 'script');
Resets odometry to the given pose.
+
restoreInternalOffset() - Method in class swervelib.SwerveDrive
+
+
Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
+
+
restoreInternalOffset() - Method in class swervelib.SwerveModule
+
+
Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.
+
robotRotation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
The robot's current rotation based on odometry or gyro readings
diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 9780a72..b446a40 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + S-Index - + @@ -93,6 +93,34 @@ loadScripts(document, 'script');
Set the absolute encoder to be a compatible absolute encoder.
+
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
+
+
Cannot Set the offset of an Analog Absolute Encoder.
+
+
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CanAndCoderSwerve
+
+
Cannot set the offset of the CanAndCoder.
+
+
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CANCoderSwerve
+
+
Sets the Absolute Encoder Offset inside of the CANcoder's Memory.
+
+
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
+
+
Sets the offset of the Encoder in the WPILib Encoder Library.
+
+
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
+
+
Sets the Absolute Encoder offset at the Encoder Level.
+
+
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
+
+
Sets the Absolute Encoder Offset inside of the SparkMax's Memory.
+
+
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
+
+
Sets the Absolute Encoder offset at the Encoder Level.
+
setAngle(double) - Method in class swervelib.simulation.SwerveIMUSimulation
Set the heading of the robot.
@@ -418,7 +446,8 @@ loadScripts(document, 'script');
SparkMaxAnalogEncoderSwerve(SwerveMotor) - Constructor for class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data port analog pin.
+
Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data + port analog pin.
SparkMaxBrushedMotorSwerve - Class in swervelib.motors
diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index e5dcef6..dc6c40d 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + T-Index - + diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 601260c..9252ce3 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 154e8df..b5145fc 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + U-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index 62cbd78..ca81c29 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + V-Index - + diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 13496a2..c6f69d6 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + W-Index - + diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index 7aad813..f03708f 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + X-Index - + diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index ca1a2d5..3439124 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Y-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index 9177846..2348b9f 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-26.html b/docs/index-files/index-26.html index 7b54466..53de969 100644 --- a/docs/index-files/index-26.html +++ b/docs/index-files/index-26.html @@ -1,11 +1,11 @@ - + _-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 4af3b50..b5bf2f3 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 0b27666..09585b0 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 06516d6..e4ba987 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + @@ -71,7 +71,7 @@ loadScripts(document, 'script');
encoder - Variable in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
-
The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
+
The SparkMaxAnalogSensor representing the duty cycle encoder attached to the SparkMax analog port.
encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index 0fc30c6..16a98f6 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 9af1194..1b77aff 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index ebd1c3d..3d12f48 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 849c375..068b84a 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 14cf9b7..9fbc3c6 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 53bcdc3..869c830 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = 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double)","u":"%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double,int,int,double,double)"},{"p":"swervelib","c":"SwerveDrive","l":"swerveModules"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"SwerveModuleSimulation()","u":"%3Cinit%3E()"},{"p":"swervelib.motors","c":"SwerveMotor","l":"SwerveMotor()","u":"%3Cinit%3E()"},{"p":"swervelib.parser","c":"SwerveParser","l":"SwerveParser(File)","u":"%3Cinit%3E(java.io.File)"},{"p":"swervelib","c":"SwerveModule","l":"synchronizeEncoderQueued"},{"p":"swervelib","c":"SwerveDrive","l":"synchronizeModuleEncoders()"},{"p":"swervelib.simulation.ctre","c":"TalonFXSimProfile","l":"TalonFXSimProfile(TalonFX, double, double, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonFX,double,double,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(int, String, boolean)","u":"%3Cinit%3E(int,java.lang.String,boolean)"},{"p":"swervelib.motors","c":"TalonFXSwerve","l":"TalonFXSwerve(WPI_TalonFX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonFX,boolean)"},{"p":"swervelib.simulation.ctre","c":"TalonSRXSimProfile","l":"TalonSRXSimProfile(TalonSRX, double, double, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.TalonSRX,double,double,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(int, boolean)","u":"%3Cinit%3E(int,boolean)"},{"p":"swervelib.motors","c":"TalonSRXSwerve","l":"TalonSRXSwerve(WPI_TalonSRX, boolean)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX,boolean)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"TelemetryVerbosity()","u":"%3Cinit%3E()"},{"p":"swervelib","c":"SwerveController","l":"thetaController"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"timer"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"timer"},{"p":"swervelib.parser.json","c":"DeviceJson","l":"type"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"updateData()"},{"p":"swervelib","c":"SwerveDrive","l":"updateOdometry()"},{"p":"swervelib.simulation","c":"SwerveIMUSimulation","l":"updateOdometry(SwerveDriveKinematics, SwerveModuleState[], Pose2d[], Field2d)","u":"updateOdometry(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.kinematics.SwerveModuleState[],edu.wpi.first.math.geometry.Pose2d[],edu.wpi.first.wpilibj.smartdashboard.Field2d)"},{"p":"swervelib.simulation","c":"SwerveModuleSimulation","l":"updateStateAndPosition(SwerveModuleState)","u":"updateStateAndPosition(edu.wpi.first.math.kinematics.SwerveModuleState)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"values()"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry.TelemetryVerbosity","l":"values()"},{"p":"swervelib.motors","c":"SparkMaxSwerve.SparkMAX_slotIdx","l":"Velocity"},{"p":"swervelib.parser","c":"SwerveModuleConfiguration","l":"velocityPIDF"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"verbosity"},{"p":"swervelib.simulation.ctre","c":"VictorSPXSimProfile","l":"VictorSPXSimProfile(VictorSPX)","u":"%3Cinit%3E(com.ctre.phoenix.motorcontrol.can.VictorSPX)"},{"p":"swervelib","c":"SwerveDrive","l":"visionMeasurementStdDevs"},{"p":"swervelib.parser.json","c":"PhysicalPropertiesJson","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.parser","c":"SwerveModulePhysicalCharacteristics","l":"wheelGripCoefficientOfFriction"},{"p":"swervelib.telemetry","c":"SwerveDriveTelemetry","l":"wheelLocations"},{"p":"swervelib","c":"SwerveController","l":"withinHypotDeadband(double, double)","u":"withinHypotDeadband(double,double)"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"x"},{"p":"swervelib","c":"SwerveController","l":"xLimiter"},{"p":"swervelib.parser.json.modules","c":"LocationJson","l":"y"},{"p":"swervelib","c":"SwerveController","l":"yLimiter"},{"p":"swervelib","c":"SwerveDrive","l":"zeroGyro()"}];updateSearchResults(); \ No newline at end of file diff --git a/docs/overview-summary.html b/docs/overview-summary.html index fdd7c5e..8d11d35 100644 --- a/docs/overview-summary.html +++ b/docs/overview-summary.html @@ -1,11 +1,11 @@ - + Generated Documentation (Untitled) - + diff --git a/docs/overview-tree.html b/docs/overview-tree.html index 422e8ba..d58f445 100644 --- a/docs/overview-tree.html +++ b/docs/overview-tree.html @@ -1,11 +1,11 @@ - + Class Hierarchy - + diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index 6108782..e682d62 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index 9c8c1f0..aeabc57 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + @@ -364,21 +364,31 @@ loadScripts(document, 'script');
Post the trajectory to the field
void
-
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
+
pushOffsetsToControllers()
-
Setup the swerve module feedforward.
+
Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
void
-
resetEncoders()
+
replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)
+
Setup the swerve module feedforward.
+
+
void
+
resetEncoders()
+
Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in autonomous.
-
void
-
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
-
+
void
+
resetOdometry(edu.wpi.first.math.geometry.Pose2d pose)
+
Resets odometry to the given pose.
+
void
+
restoreInternalOffset()
+
+
Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
+
void
setAngleMotorConversionFactor(double conversionFactor)
@@ -1248,6 +1258,21 @@ loadScripts(document, 'script'); +
  • +
    +

    pushOffsetsToControllers

    +
    public void pushOffsetsToControllers()
    +
    Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type. Also removes the + internal offsets to prevent double offsetting.
    +
    +
    • +
  • +
    +

    restoreInternalOffset

    +
    public void restoreInternalOffset()
    +
    Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
    +
    +
    • diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index 0fa0d01..fbd9a5c 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,11 +1,11 @@ - + SwerveModule - + @@ -101,7 +101,7 @@ loadScripts(document, 'script');
    Swerve Motors.
    -
    private final double
    +
    private double
    angleOffset
    Angle offset from the absolute encoder.
    @@ -224,10 +224,20 @@ loadScripts(document, 'script');
    Get the Swerve Module state.
    void
    -
    queueSynchronizeEncoders()
    +
    pushOffsetsToControllers()
    +
    Push absolute encoder offset in the memory of the encoder or controller.
    +
    +
    void
    +
    queueSynchronizeEncoders()
    +
    Queue synchronization of the integrated angle encoder with the absolute encoder.
    +
    void
    +
    restoreInternalOffset()
    +
    +
    Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.
    +
    void
    setAngle(double angle)
    @@ -290,13 +300,6 @@ loadScripts(document, 'script');
  • -
    -

    angleOffset

    -
    private final double angleOffset
    -
    Angle offset from the absolute encoder.
    -
    -
    • -

  • angleMotor

    private final SwerveMotor angleMotor
    @@ -354,6 +357,13 @@ loadScripts(document, 'script');
  • +
    +

    angleOffset

    +
    private double angleOffset
    +
    Angle offset from the absolute encoder.
    +
    +
    • +

  • simModule

    private SwerveModuleSimulation simModule
    @@ -569,6 +579,20 @@ loadScripts(document, 'script');
  • +
    +

    pushOffsetsToControllers

    +
    public void pushOffsetsToControllers()
    +
    Push absolute encoder offset in the memory of the encoder or controller. Also removes the internal angle offset.
    +
    +
    • +
  • +
    +

    restoreInternalOffset

    +
    public void restoreInternalOffset()
    +
    Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.
    +
    +
    • +

  • getAbsoluteEncoderReadIssue

    public boolean getAbsoluteEncoderReadIssue()
    diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index 25f5b95..0d52950 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,11 +1,11 @@ - + AnalogAbsoluteEncoderSwerve - + @@ -169,6 +169,11 @@ loadScripts(document, 'script');
    Get the velocity in degrees/sec.
    +
    boolean
    +
    setAbsoluteEncoderOffset(double offset)
    +
    +
    Cannot Set the offset of an Analog Absolute Encoder.
    +
    • @@ -300,6 +305,21 @@ loadScripts(document, 'script');
  • +
    +

    setAbsoluteEncoderOffset

    +
    public boolean setAbsoluteEncoderOffset(double offset)
    +
    Cannot Set the offset of an Analog Absolute Encoder.
    +
    +
    Specified by:
    +
    setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
    +
    Parameters:
    +
    offset - the offset the Absolute Encoder uses as the zero point.
    +
    Returns:
    +
    Will always be false as setting the offset is unsupported of an Analog absolute encoder.
    +
    +
    +
    • +

  • getVelocity

    public double getVelocity()
    diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index 3f054d4..c95fda2 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,11 +1,11 @@ - + CANCoderSwerve - + @@ -165,6 +165,11 @@ loadScripts(document, 'script');
    Get the velocity in degrees/sec.
    +
    boolean
    +
    setAbsoluteEncoderOffset(double offset)
    +
    +
    Sets the Absolute Encoder Offset inside of the CANcoder's Memory.
    +
    @@ -291,6 +296,21 @@ loadScripts(document, 'script');
  • +
    +

    setAbsoluteEncoderOffset

    +
    public boolean setAbsoluteEncoderOffset(double offset)
    +
    Sets the Absolute Encoder Offset inside of the CANcoder's Memory.
    +
    +
    Specified by:
    +
    setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
    +
    Parameters:
    +
    offset - the offset the Absolute Encoder uses as the zero point.
    +
    Returns:
    +
    if setting Absolute Encoder Offset was successful or not.
    +
    +
    +
    • +

  • getVelocity

    public double getVelocity()
    diff --git a/docs/swervelib/encoders/CanAndCoderSwerve.html b/docs/swervelib/encoders/CanAndCoderSwerve.html index 45e5066..ad36362 100644 --- a/docs/swervelib/encoders/CanAndCoderSwerve.html +++ b/docs/swervelib/encoders/CanAndCoderSwerve.html @@ -1,11 +1,11 @@ - + CanAndCoderSwerve - + @@ -165,6 +165,11 @@ loadScripts(document, 'script');
    Get the velocity in degrees/sec.
    +
    boolean
    +
    setAbsoluteEncoderOffset(double offset)
    +
    +
    Cannot set the offset of the CanAndCoder.
    +
    @@ -285,6 +290,21 @@ loadScripts(document, 'script');
  • +
    +

    setAbsoluteEncoderOffset

    +
    public boolean setAbsoluteEncoderOffset(double offset)
    +
    Cannot set the offset of the CanAndCoder.
    +
    +
    Specified by:
    +
    setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
    +
    Parameters:
    +
    offset - the offset the Absolute Encoder uses as the zero point.
    +
    Returns:
    +
    always false due to CanAndCoder not supporting offset changing.
    +
    +
    +
    • +

  • getVelocity

    public double getVelocity()
    diff --git a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html index 31ab58a..12ff9ed 100644 --- a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html +++ b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html @@ -1,11 +1,11 @@ - + PWMDutyCycleEncoderSwerve - + @@ -170,6 +170,11 @@ loadScripts(document, 'script');
    Get the velocity in degrees/sec.
    +
    boolean
    +
    setAbsoluteEncoderOffset(double offset)
    +
    +
    Sets the offset of the Encoder in the WPILib Encoder Library.
    +
    @@ -302,6 +307,21 @@ loadScripts(document, 'script');
    • +
  • +
    +

    setAbsoluteEncoderOffset

    +
    public boolean setAbsoluteEncoderOffset(double offset)
    +
    Sets the offset of the Encoder in the WPILib Encoder Library.
    +
    +
    Specified by:
    +
    setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
    +
    Parameters:
    +
    offset - the offset the Absolute Encoder uses as the zero point.
    +
    Returns:
    +
    Always true due to no external device commands.
    +
    +
    +
    • diff --git a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html index fa15275..057bf9e 100644 --- a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxAnalogEncoderSwerve - + @@ -96,7 +96,7 @@ loadScripts(document, 'script');
    com.revrobotics.SparkMaxAnalogSensor
    encoder
    -
    The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
    +
    The SparkMaxAnalogSensor representing the duty cycle encoder attached to the SparkMax analog port.
    @@ -114,7 +114,8 @@ loadScripts(document, 'script');
    Description
    SparkMaxAnalogEncoderSwerve(SwerveMotor motor)
    -
    Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data port analog pin.
    +
    Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data + port analog pin.
    @@ -165,6 +166,11 @@ loadScripts(document, 'script');
    Get the velocity in degrees/sec.
    +
    boolean
    +
    setAbsoluteEncoderOffset(double offset)
    +
    +
    Sets the Absolute Encoder offset at the Encoder Level.
    +
    @@ -186,7 +192,7 @@ loadScripts(document, 'script');

    encoder

    public com.revrobotics.SparkMaxAnalogSensor encoder
    -
    The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
    +
    The SparkMaxAnalogSensor representing the duty cycle encoder attached to the SparkMax analog port.
    @@ -201,7 +207,8 @@ loadScripts(document, 'script');

    SparkMaxAnalogEncoderSwerve

    public SparkMaxAnalogEncoderSwerve(SwerveMotor motor)
    -
    Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data port analog pin.
    +
    Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data + port analog pin.
    Parameters:
    motor - Motor to create the encoder from.
    @@ -289,6 +296,21 @@ loadScripts(document, 'script');
  • +
    +

    setAbsoluteEncoderOffset

    +
    public boolean setAbsoluteEncoderOffset(double offset)
    +
    Sets the Absolute Encoder offset at the Encoder Level.
    +
    +
    Specified by:
    +
    setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
    +
    Parameters:
    +
    offset - the offset the Absolute Encoder uses as the zero point.
    +
    Returns:
    +
    if setting Absolute Encoder Offset was successful or not.
    +
    +
    +
    • +

  • getVelocity

    public double getVelocity()
    diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index 3bd439d..bb5ebee 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxEncoderSwerve - + @@ -166,6 +166,11 @@ loadScripts(document, 'script');
    Get the velocity in degrees/sec.
    +
    boolean
    +
    setAbsoluteEncoderOffset(double offset)
    +
    +
    Sets the Absolute Encoder Offset inside of the SparkMax's Memory.
    +
    @@ -292,6 +297,21 @@ loadScripts(document, 'script');
  • +
    +

    setAbsoluteEncoderOffset

    +
    public boolean setAbsoluteEncoderOffset(double offset)
    +
    Sets the Absolute Encoder Offset inside of the SparkMax's Memory.
    +
    +
    Specified by:
    +
    setAbsoluteEncoderOffset in class SwerveAbsoluteEncoder
    +
    Parameters:
    +
    offset - the offset the Absolute Encoder uses as the zero point.
    +
    Returns:
    +
    if setting Absolute Encoder Offset was successful or not.
    +
    +
    +
    • +

  • getVelocity

    public double getVelocity()
    diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index c7f66b5..215b2ed 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,11 +1,11 @@ - + SwerveAbsoluteEncoder - + @@ -162,6 +162,11 @@ loadScripts(document, 'script');
    Get the velocity in degrees/sec.
    +
    abstract boolean
    +
    setAbsoluteEncoderOffset(double offset)
    +
    +
    Sets the Absolute Encoder offset at the Encoder Level.
    +
    @@ -271,6 +276,19 @@ loadScripts(document, 'script');
  • +
    +

    setAbsoluteEncoderOffset

    +
    public abstract boolean setAbsoluteEncoderOffset(double offset)
    +
    Sets the Absolute Encoder offset at the Encoder Level.
    +
    +
    Parameters:
    +
    offset - the offset the Absolute Encoder uses as the zero point.
    +
    Returns:
    +
    if setting Absolute Encoder Offset was successful or not.
    +
    +
    +
    • +

  • getVelocity

    public abstract double getVelocity()
    diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index fb914eb..347176d 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 9b146c2..4a04d41 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 cd1adaa..bcc56eb 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,11 +1,11 @@ - + ADIS16448Swerve - + diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index 99857a0..247f5aa 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,11 +1,11 @@ - + ADIS16470Swerve - + diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index 0176ae0..21d2a50 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,11 +1,11 @@ - + ADXRS450Swerve - + diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index e58c224..9f32891 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,11 +1,11 @@ - + AnalogGyroSwerve - + diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index ba734a3..6830703 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,11 +1,11 @@ - + NavXSwerve - + diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index aeae709..f152bd6 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,11 +1,11 @@ - + Pigeon2Swerve - + diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index d439e16..472ba9d 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,11 +1,11 @@ - + PigeonSwerve - + diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index 20e4e22..73072c4 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,11 +1,11 @@ - + SwerveIMU - + diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index fea0818..b24fb98 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 f189623..d6efef8 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 af9d28f..6e6dc83 100644 --- a/docs/swervelib/math/Matter.html +++ b/docs/swervelib/math/Matter.html @@ -1,11 +1,11 @@ - + Matter - + diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index eb78b80..a923b7e 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,11 +1,11 @@ - + SwerveMath - + diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index bc48209..fc6c9f7 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 ab095bf..3a4b740 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 a03dd15..b3e1c43 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 22ddc39..f3cfa2b 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 7d8a126..60982df 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 827bb6b..2b64dd9 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 32244ce..1b50320 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 12eb4c9..61e824e 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 996be7f..ac9cd2b 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 e22cc2b..b3526cc 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 835bc3e..c5e73f3 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 e8d38c1..b673c5c 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 b5765e5..03ee607 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 190aca8..55f3250 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 43e137c..a0a3fe6 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 a15ef0b..47fe2a8 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 6caa762..fb4fbea 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 2cea464..199c83e 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 7e5cd95..740e51e 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 9552eb3..e161ec6 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 c5f651d..84dada5 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 da7de2e..6a57afe 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 4fbce98..7faff10 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 a084353..a858125 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 1821a6e..d8a8f51 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 364f9e3..efea3a5 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 a9a4a1a..ed99272 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 9cc8d6e..0a0da3e 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 009e232..67242e9 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 48f3a28..f93fe33 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 0825ed0..c8a341b 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 99ebff5..e851b5e 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 b804b3f..f11ba68 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 ce05269..6008d22 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 3b2c6c4..782fa5a 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 7553ad9..86e53df 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 207fc4a..1728b15 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 7a96386..2d8218c 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 c915124..4ec9cff 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 08616e5..9aa001a 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 af2216c..fdad661 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 2efdd3b..0833291 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 2a6bdf1..12e400c 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 46e7f00..49b9131 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 256f886..bf4a1ec 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 d7361a8..877fe03 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 8008098..f77f361 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 a22b07d..87fe4b5 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 24d15bf..710c566 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 c8a9f2f..cecc52e 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 e1126b8..8dda78c 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 4e2ca12..8dfbbc1 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 80764cf..d47d2f6 100644 --- a/swervelib/SwerveDrive.java +++ b/swervelib/SwerveDrive.java @@ -66,11 +66,11 @@ public class SwerveDrive /** * Odometry lock to ensure thread safety. */ - private final Lock odometryLock = new ReentrantLock(); + private final Lock odometryLock = new ReentrantLock(); /** * Field object. */ - public Field2d field = new Field2d(); + public Field2d field = new Field2d(); /** * Swerve controller for controlling heading of the robot. */ @@ -79,31 +79,31 @@ public class SwerveDrive * Standard deviation of encoders and gyroscopes, usually should not change. (meters of position and degrees of * rotation) */ - public Matrix stateStdDevs = VecBuilder.fill(0.1, - 0.1, - 0.1); + public Matrix stateStdDevs = VecBuilder.fill(0.1, + 0.1, + 0.1); /** * The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more * points and fit a line to it and modify this using {@link SwerveDrive#addVisionMeasurement(Pose2d, double, Matrix)} * with the calculated optimal standard deviation. (Units should be meters per pixel). By optimizing this you can get * vision accurate to inches instead of feet. */ - public Matrix visionMeasurementStdDevs = VecBuilder.fill(0.9, - 0.9, - 0.9); + public Matrix visionMeasurementStdDevs = VecBuilder.fill(0.9, + 0.9, + 0.9); /** * Invert odometry readings of drive motor positions, used as a patch for debugging currently. */ - public boolean invertOdometry = false; + public boolean invertOdometry = false; /** * Correct chassis velocity in {@link SwerveDrive#drive(Translation2d, double, boolean, boolean)} using 254's * correction. */ - public boolean chassisVelocityCorrection = true; + public boolean chassisVelocityCorrection = true; /** * Whether to correct heading when driving translationally. Set to true to enable. */ - public boolean headingCorrection = false; + public boolean headingCorrection = false; /** * Swerve IMU device for sensing the heading of the robot. */ @@ -115,23 +115,23 @@ public class SwerveDrive /** * Counter to synchronize the modules relative encoder with absolute encoder when not moving. */ - private int moduleSynchronizationCounter = 0; + private int moduleSynchronizationCounter = 0; /** * The last heading set in radians. */ - private double lastHeadingRadians = 0; + private double lastHeadingRadians = 0; /** * The absolute max speed that your robot can reach while translating in meters per second. */ - private double attainableMaxTranslationalSpeedMetersPerSecond = 0; + private double attainableMaxTranslationalSpeedMetersPerSecond = 0; /** * The absolute max speed the robot can reach while rotating radians per second. */ - private double attainableMaxRotationalVelocityRadiansPerSecond = 0; + private double attainableMaxRotationalVelocityRadiansPerSecond = 0; /** * Maximum speed of the robot in meters per second. */ - private double maxSpeedMPS; + private double maxSpeedMPS; /** * Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the @@ -902,7 +902,8 @@ public class SwerveDrive SmartDashboard.putNumber( "Module[" + module.configuration.name + "] Absolute Encoder", module.getAbsolutePosition()); SmartDashboard.putNumber( - "Module[" + module.configuration.name + "] Absolute Encoder Read Issue", module.getAbsoluteEncoderReadIssue() ? 1 : 0); + "Module[" + module.configuration.name + "] Absolute Encoder Read Issue", + module.getAbsoluteEncoderReadIssue() ? 1 : 0); } if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal()) { @@ -1071,4 +1072,27 @@ public class SwerveDrive } } + /** + * Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type. Also removes the + * internal offsets to prevent double offsetting. + */ + public void pushOffsetsToControllers() + { + for (SwerveModule module : swerveModules) + { + module.pushOffsetsToControllers(); + } + } + + /** + * Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0 + */ + public void restoreInternalOffset() + { + for (SwerveModule module : swerveModules) + { + module.restoreInternalOffset(); + } + } + } diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java index e1478e8..999ccc1 100644 --- a/swervelib/SwerveModule.java +++ b/swervelib/SwerveModule.java @@ -4,6 +4,7 @@ import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import swervelib.encoders.SwerveAbsoluteEncoder; import swervelib.math.SwerveMath; @@ -23,10 +24,6 @@ public class SwerveModule * Swerve module configuration options. */ public final SwerveModuleConfiguration configuration; - /** - * Angle offset from the absolute encoder. - */ - private final double angleOffset; /** * Swerve Motors. */ @@ -38,32 +35,36 @@ public class SwerveModule /** * Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right. */ - public int moduleNumber; + public int moduleNumber; /** * Feedforward for drive motor during closed loop control. */ - public SimpleMotorFeedforward feedforward; + public SimpleMotorFeedforward feedforward; /** * Maximum speed of the drive motors in meters per second. */ - public double maxSpeed; + public double maxSpeed; /** * Last swerve module state applied. */ - public SwerveModuleState lastState; + public SwerveModuleState lastState; /** * Enable {@link SwerveModuleState} optimizations so the angle is reversed and speed is reversed to ensure the module * never turns more than 90deg. */ - public boolean moduleStateOptimization = true; + public boolean moduleStateOptimization = true; + /** + * Angle offset from the absolute encoder. + */ + private double angleOffset; /** * Simulated swerve module. */ - private SwerveModuleSimulation simModule; + private SwerveModuleSimulation simModule; /** * Encoder synchronization queued. */ - private boolean synchronizeEncoderQueued = false; + private boolean synchronizeEncoderQueued = false; /** * Construct the swerve module and initialize the swerve module motors and absolute encoder. @@ -388,6 +389,36 @@ public class SwerveModule return configuration; } + /** + * Push absolute encoder offset in the memory of the encoder or controller. Also removes the internal angle offset. + */ + public void pushOffsetsToControllers() + { + if (absoluteEncoder != null) + { + if (absoluteEncoder.setAbsoluteEncoderOffset(angleOffset)) + { + angleOffset = 0; + } else + { + DriverStation.reportWarning( + "Pushing the Absolute Encoder offset to the encoder failed on module #" + moduleNumber, false); + } + } else + { + DriverStation.reportWarning("There is no Absolute Encoder on module #" + moduleNumber, false); + } + } + + /** + * Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value. + */ + public void restoreInternalOffset() + { + absoluteEncoder.setAbsoluteEncoderOffset(0); + angleOffset = configuration.angleOffset; + } + /** * Get if the last Absolute Encoder had a read issue, such as it does not exist. * @@ -395,9 +426,12 @@ public class SwerveModule */ public boolean getAbsoluteEncoderReadIssue() { - if(absoluteEncoder == null) + if (absoluteEncoder == null) + { return true; - else + } else + { return absoluteEncoder.readingError; + } } } diff --git a/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java b/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java index d46f1d1..1b830b1 100644 --- a/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java +++ b/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java @@ -91,6 +91,21 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder return encoder; } + /** + * Cannot Set the offset of an Analog Absolute Encoder. + * + * @param offset the offset the Absolute Encoder uses as the zero point. + * @return Will always be false as setting the offset is unsupported of an Analog absolute encoder. + */ + @Override + public boolean setAbsoluteEncoderOffset(double offset) + { + //Do Nothing + DriverStation.reportWarning( + "Cannot Set Absolute Encoder Offset of Analog Encoders Channel #" + encoder.getChannel(), false); + return false; + } + /** * Get the velocity in degrees/sec. * @@ -99,7 +114,7 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder @Override public double getVelocity() { - DriverStation.reportWarning("The Analog Absolute encoder may not report accurate velocities!",true); + DriverStation.reportWarning("The Analog Absolute encoder may not report accurate velocities!", true); return encoder.getValue(); } } diff --git a/swervelib/encoders/CANCoderSwerve.java b/swervelib/encoders/CANCoderSwerve.java index 5731dbe..87c93cc 100644 --- a/swervelib/encoders/CANCoderSwerve.java +++ b/swervelib/encoders/CANCoderSwerve.java @@ -138,6 +138,25 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder return encoder; } + /** + * Sets the Absolute Encoder Offset inside of the CANcoder's Memory. + * + * @param offset the offset the Absolute Encoder uses as the zero point. + * @return if setting Absolute Encoder Offset was successful or not. + */ + @Override + public boolean setAbsoluteEncoderOffset(double offset) + { + ErrorCode error = encoder.configMagnetOffset(offset); + if (error == ErrorCode.OK) + { + return true; + } + DriverStation.reportWarning( + "Failure to set CANCoder " + encoder.getDeviceID() + " Absolute Encoder Offset Error: " + error, false); + return false; + } + /** * Get the velocity in degrees/sec. * diff --git a/swervelib/encoders/CanAndCoderSwerve.java b/swervelib/encoders/CanAndCoderSwerve.java index 639a2bd..7e7c19d 100644 --- a/swervelib/encoders/CanAndCoderSwerve.java +++ b/swervelib/encoders/CanAndCoderSwerve.java @@ -1,6 +1,7 @@ package swervelib.encoders; import com.reduxrobotics.sensors.canandcoder.CANandcoder; +import edu.wpi.first.wpilibj.DriverStation; /** * HELIUM {@link CANandcoder} from ReduxRobotics absolute encoder, attached through the CAN bus. @@ -78,6 +79,21 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder return encoder; } + /** + * Cannot set the offset of the CanAndCoder. + * + * @param offset the offset the Absolute Encoder uses as the zero point. + * @return always false due to CanAndCoder not supporting offset changing. + */ + @Override + public boolean setAbsoluteEncoderOffset(double offset) + { + //CanAndCoder does not support Absolute Offset Changing + DriverStation.reportWarning("Cannot Set Absolute Encoder Offset of CanAndCoders ID: " + encoder.getAddress(), + false); + return false; + } + /** * Get the velocity in degrees/sec. * diff --git a/swervelib/encoders/PWMDutyCycleEncoderSwerve.java b/swervelib/encoders/PWMDutyCycleEncoderSwerve.java index 85c78bf..0361aec 100644 --- a/swervelib/encoders/PWMDutyCycleEncoderSwerve.java +++ b/swervelib/encoders/PWMDutyCycleEncoderSwerve.java @@ -96,4 +96,17 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder // Do nothing } + /** + * Sets the offset of the Encoder in the WPILib Encoder Library. + * + * @param offset the offset the Absolute Encoder uses as the zero point. + * @return Always true due to no external device commands. + */ + @Override + public boolean setAbsoluteEncoderOffset(double offset) + { + encoder.setPositionOffset(offset); + + return true; + } } \ No newline at end of file diff --git a/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java b/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java index 632e5c2..1f79cbf 100644 --- a/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java +++ b/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java @@ -1,6 +1,5 @@ package swervelib.encoders; -import com.revrobotics.AbsoluteEncoder; import com.revrobotics.CANSparkMax; import com.revrobotics.REVLibError; import com.revrobotics.SparkMaxAnalogSensor; @@ -16,14 +15,15 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder { /** - * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to the SparkMax. + * The {@link SparkMaxAnalogSensor} representing the duty cycle encoder attached to the SparkMax analog port. */ public SparkMaxAnalogSensor encoder; /** - * Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link CANSparkMax} motor data port analog pin. + * Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link CANSparkMax} motor data + * port analog pin. * - * @param motor Motor to create the encoder from. + * @param motor Motor to create the encoder from. */ public SparkMaxAnalogEncoderSwerve(SwerveMotor motor) { @@ -104,6 +104,19 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder return encoder; } + /** + * Sets the Absolute Encoder offset at the Encoder Level. + * + * @param offset the offset the Absolute Encoder uses as the zero point. + * @return if setting Absolute Encoder Offset was successful or not. + */ + @Override + public boolean setAbsoluteEncoderOffset(double offset) + { + DriverStation.reportWarning("SparkMax Analog Sensor's do not support integrated offsets", true); + return false; + } + /** * Get the velocity in degrees/sec. * diff --git a/swervelib/encoders/SparkMaxEncoderSwerve.java b/swervelib/encoders/SparkMaxEncoderSwerve.java index fd0d0bf..87f9782 100644 --- a/swervelib/encoders/SparkMaxEncoderSwerve.java +++ b/swervelib/encoders/SparkMaxEncoderSwerve.java @@ -106,6 +106,28 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder return encoder; } + /** + * Sets the Absolute Encoder Offset inside of the SparkMax's Memory. + * + * @param offset the offset the Absolute Encoder uses as the zero point. + * @return if setting Absolute Encoder Offset was successful or not. + */ + @Override + public boolean setAbsoluteEncoderOffset(double offset) + { + REVLibError error = null; + for (int i = 0; i < maximumRetries; i++) + { + error = encoder.setZeroOffset(offset); + if (error == REVLibError.kOk) + { + return true; + } + } + DriverStation.reportWarning("Failure to set Absolute Encoder Offset Error: " + error, false); + return false; + } + /** * Get the velocity in degrees/sec. * diff --git a/swervelib/encoders/SwerveAbsoluteEncoder.java b/swervelib/encoders/SwerveAbsoluteEncoder.java index db0b7eb..a01e4c4 100644 --- a/swervelib/encoders/SwerveAbsoluteEncoder.java +++ b/swervelib/encoders/SwerveAbsoluteEncoder.java @@ -46,6 +46,14 @@ public abstract class SwerveAbsoluteEncoder */ public abstract Object getAbsoluteEncoder(); + /** + * Sets the Absolute Encoder offset at the Encoder Level. + * + * @param offset the offset the Absolute Encoder uses as the zero point. + * @return if setting Absolute Encoder Offset was successful or not. + */ + public abstract boolean setAbsoluteEncoderOffset(double offset); + /** * Get the velocity in degrees/sec. * @return velocity in degrees/sec. diff --git a/swervelib/motors/SparkMaxSwerve.java b/swervelib/motors/SparkMaxSwerve.java index 2185986..7d97cae 100644 --- a/swervelib/motors/SparkMaxSwerve.java +++ b/swervelib/motors/SparkMaxSwerve.java @@ -214,19 +214,23 @@ public class SparkMaxSwerve extends SwerveMotor configureSparkMax(() -> { if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder) { - return ((AbsoluteEncoder) absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor(positionConversionFactor); + return ((AbsoluteEncoder) absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor( + positionConversionFactor); } else { - return ((SparkMaxAnalogSensor)absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor(positionConversionFactor); + return ((SparkMaxAnalogSensor) absoluteEncoder.getAbsoluteEncoder()).setPositionConversionFactor( + positionConversionFactor); } }); configureSparkMax(() -> { if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder) { - return ((AbsoluteEncoder) absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor(positionConversionFactor / 60); + return ((AbsoluteEncoder) absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor( + positionConversionFactor / 60); } else { - return ((SparkMaxAnalogSensor)absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor(positionConversionFactor / 60); + return ((SparkMaxAnalogSensor) absoluteEncoder.getAbsoluteEncoder()).setVelocityConversionFactor( + positionConversionFactor / 60); } }); } diff --git a/swervelib/parser/SwerveModulePhysicalCharacteristics.java b/swervelib/parser/SwerveModulePhysicalCharacteristics.java index 87e13cf..99360ce 100644 --- a/swervelib/parser/SwerveModulePhysicalCharacteristics.java +++ b/swervelib/parser/SwerveModulePhysicalCharacteristics.java @@ -11,7 +11,7 @@ public class SwerveModulePhysicalCharacteristics /** * Current limits for the Swerve Module. */ - public final int driveMotorCurrentLimit, angleMotorCurrentLimit; + public final int driveMotorCurrentLimit, angleMotorCurrentLimit; /** * The time it takes for the motor to go from 0 to full throttle in seconds. */ diff --git a/swervelib/parser/json/DeviceJson.java b/swervelib/parser/json/DeviceJson.java index 63afd57..9f130d5 100644 --- a/swervelib/parser/json/DeviceJson.java +++ b/swervelib/parser/json/DeviceJson.java @@ -130,7 +130,7 @@ public class DeviceJson case "pigeon2": return new Pigeon2Swerve(id, canbus != null ? canbus : ""); default: - throw new RuntimeException(type + " is not a recognized absolute encoder type."); + throw new RuntimeException(type + " is not a recognized imu/gyroscope type."); } } @@ -181,7 +181,7 @@ public class DeviceJson case "talonsrx": return new TalonSRXSwerve(id, isDriveMotor); default: - throw new RuntimeException(type + " is not a recognized absolute encoder type."); + throw new RuntimeException(type + " is not a recognized motor type."); } } } diff --git a/swervelib/parser/json/PhysicalPropertiesJson.java b/swervelib/parser/json/PhysicalPropertiesJson.java index 779f84f..4ede402 100644 --- a/swervelib/parser/json/PhysicalPropertiesJson.java +++ b/swervelib/parser/json/PhysicalPropertiesJson.java @@ -14,7 +14,7 @@ public class PhysicalPropertiesJson * {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or * {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors. */ - public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0); + public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0); /** * The current limit in AMPs to apply to the motors. */