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Updated Javadocs, added ability to push offset to absolute encoders.

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This commit is contained in:
thenetworkgrinch
2023-12-12 10:48:54 -06:00
parent aef91407ea
commit f03926627d
123 changed files with 685 additions and 283 deletions
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58
swervelib/SwerveDrive.java
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@@ -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<N3, N1> stateStdDevs = VecBuilder.fill(0.1,
0.1,
0.1);
public Matrix<N3, N1> 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<N3, N1> visionMeasurementStdDevs = VecBuilder.fill(0.9,
0.9,
0.9);
public Matrix<N3, N1> 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();
}
}
}