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Enhanced odometry

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thenetworkgrinch
2023-04-08 13:14:18 -05:00
parent 5b38929c48
commit f5aabb594f
116 changed files with 2199 additions and 145 deletions
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<title>A-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -113,6 +113,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Adds a VictorSPX controller to the simulator.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)" class="member-name-link">addVisionMeasurement(Pose2d, double)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Adds a vision measurement to the Kalman Filter.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,double)" class="member-name-link">addVisionMeasurement(Pose2d, double, boolean, double)</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
@@ -123,6 +127,10 @@ loadScripts(document, 'script');</script>
<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="../swervelib/imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with
the given timestamp of the vision measurement.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)" class="member-name-link">addVisionMeasurement(Pose2d, double, Matrix&lt;N3, N1&gt;)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Adds a vision measurement to the Kalman Filter.</div>
</dd>
<dt><a href="../swervelib/imu/ADIS16448Swerve.html" class="type-name-link" title="class in swervelib.imu">ADIS16448Swerve</a> - Class in <a href="../swervelib/imu/package-summary.html">swervelib.imu</a></dt>
<dd>
<div class="block">IMU Swerve class for the <code>ADIS16448_IMU</code> device.</div>

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@@ -57,10 +57,22 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Forward kinematics matrix.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_gyroOffset" class="member-name-link">m_gyroOffset</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Gyro offset.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_inverseKinematics" class="member-name-link">m_inverseKinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Inverse kinematics matrix.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_kinematics" class="member-name-link">m_kinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Swerve drive kinematics.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_kinematics" class="member-name-link">m_kinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Swerve drive kinematics.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_moduleAccelTimer" class="member-name-link">m_moduleAccelTimer</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_modules" class="member-name-link">m_modules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
@@ -71,18 +83,58 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Swerve module states.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_numModules" class="member-name-link">m_numModules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Number of swerve modules.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_numModules" class="member-name-link">m_numModules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Number of swerve modules.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_numModules" class="member-name-link">m_numModules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Number of swerve modules.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_odometry" class="member-name-link">m_odometry</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Enhanced swerve drive odometry.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_poseBuffer" class="member-name-link">m_poseBuffer</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Interpolation buffer.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_poseMeters" class="member-name-link">m_poseMeters</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Estimated pose.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_prevChassisSpeeds" class="member-name-link">m_prevChassisSpeeds</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_prevCoR" class="member-name-link">m_prevCoR</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Previous CoR</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_previousAngle" class="member-name-link">m_previousAngle</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Previous gyroscope angle.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_previousModulePositions" class="member-name-link">m_previousModulePositions</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Previous swerve module positions.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_prevModuleAccelTime" class="member-name-link">m_prevModuleAccelTime</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_q" class="member-name-link">m_q</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Matrix quotient.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_visionK" class="member-name-link">m_visionK</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Vision standard deviations.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_zeroModuleStates" class="member-name-link">m_zeroModuleStates</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Zero module states.</div>
</dd>
<dt><a href="../swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html#MACHINE" class="member-name-link">MACHINE</a> - Enum constant in enum class swervelib.telemetry.<a href="../swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></dt>
<dd>
<div class="block">Only send the machine readable data related to swerve drive.</div>
@@ -186,6 +238,8 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Module number for kinematics, usually 0 to 3.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#modulePositions" class="member-name-link">modulePositions</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/parser/json/SwerveDriveJson.html#modules" class="member-name-link">modules</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></dt>
<dd>
<div class="block">Module JSONs in order clockwise order starting from front left.</div>

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@@ -157,6 +157,8 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Logical inverse of the Pose exponential from 254.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#poseMeters" class="member-name-link">poseMeters</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/Matter.html#position" class="member-name-link">position</a> - Variable in class swervelib.math.<a href="../swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
<dd>
<div class="block">Position in meters from robot center in 3d space.</div>

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@@ -78,6 +78,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Resets odometry to the given pose.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetPosition(Rotation2d, SwerveModulePosition[], Pose2d)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Resets the robot's position on the field.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetPosition(Rotation2d, SwerveModulePosition[], Pose2d)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Resets the robot's position on the field.</div>
</dd>
<dt><a href="../swervelib/telemetry/SwerveDriveTelemetry.html#robotRotation" class="member-name-link">robotRotation</a> - Static variable in class swervelib.telemetry.<a href="../swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></dt>
<dd>
<div class="block">The robot's current rotation based on odometry or gyro readings</div>

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@@ -328,6 +328,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the closed loop PID controller reference point.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)" class="member-name-link">setVisionMeasurementStdDevs(Matrix&lt;N3, N1&gt;)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Sets the pose estimator's trust of global measurements.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation(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">Set the voltage compensation for the swerve module motor.</div>
@@ -480,6 +484,18 @@ loadScripts(document, 'script');</script>
</dd>
<dt><a href="../swervelib/parser/json/SwerveDriveJson.html#%3Cinit%3E()" class="member-name-link">SwerveDriveJson()</a> - Constructor for class swervelib.parser.json.<a href="../swervelib/parser/json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html" class="type-name-link" title="class in swervelib.math">SwerveDriveOdometry2</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Clone of <code>SwerveDriveOdometry</code> except uses gyro pitch and roll to achieve a more accurate estimation.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[])</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Constructs a SwerveDriveOdometry object with the default pose at the origin.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Constructs a SwerveDriveOdometry object.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Swerve odometry.</div>
@@ -645,6 +661,23 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Construct a swerve parser.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Clone of <code>SwerveDrivePoseEstimator</code> which takes into account gyroscope pitch and roll to achieve a more
accurate estimation, originally made by Team 1466.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">SwervePoseEstimator2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.Matrix,edu.wpi.first.math.Matrix)" class="member-name-link">SwervePoseEstimator2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d, Matrix&lt;N3, N1&gt;, Matrix&lt;N3, N1&gt;)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Constructs a SwerveDrivePoseEstimator.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Represents an odometry record.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Encoder synchronization queued.</div>

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<title>U-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -53,6 +53,14 @@ loadScripts(document, 'script');</script>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<a href="index-26.html">_</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a>
<h2 class="title" id="I:U">U</h2>
<dl class="index">
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#update(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Updates the robot's position on the field using forward kinematics and integration of the pose over time.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#update(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">update(Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Updates the pose estimator with wheel encoder and gyro information.</div>
</dd>
<dt><a href="../swervelib/telemetry/SwerveDriveTelemetry.html#updateData()" class="member-name-link">updateData()</a> - Static method in class swervelib.telemetry.<a href="../swervelib/telemetry/SwerveDriveTelemetry.html" title="class in swervelib.telemetry">SwerveDriveTelemetry</a></dt>
<dd>
<div class="block">Upload data to smartdashboard</div>
@@ -70,6 +78,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Update the position and state of the module.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#updateWithTime(double,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">updateWithTime(double, Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Updates the pose estimator with wheel encoder and gyro information.</div>
</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<a href="index-26.html">_</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
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<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
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<title>X-Index</title>
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<title>Z-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
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<title>_-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
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<title>C-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
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<title>D-Index</title>
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<head>
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
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<title>E-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -81,6 +81,8 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Encoder pulse per rotation for non-integrated encoders.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#equals(java.lang.Object)" class="member-name-link">equals(Object)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<a href="index-26.html">_</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
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<title>G-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -145,6 +145,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Get the drive <a href="../swervelib/motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a> for the <a href="../swervelib/SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#getEstimatedPosition()" class="member-name-link">getEstimatedPosition()</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Gets the estimated robot pose.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#getFieldVelocity()" class="member-name-link">getFieldVelocity()</a> - Method in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
@@ -245,6 +249,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#getPoseMeters()" class="member-name-link">getPoseMeters()</a> - Method in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Returns the position of the robot on the field.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#getPosition()" class="member-name-link">getPosition()</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>
<div class="block">Get the position of the integrated encoder.</div>
@@ -439,6 +447,12 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">NavX IMU.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#gyroAngle" class="member-name-link">gyroAngle</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#gyroPitch" class="member-name-link">gyroPitch</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#gyroRoll" class="member-name-link">gyroRoll</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
</dl>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<a href="index-26.html">_</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a></main>
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 13:12:34 CDT 2023 -->
<title>H-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -53,6 +53,8 @@ loadScripts(document, 'script');</script>
<a href="index-1.html">A</a>&nbsp;<a href="index-2.html">B</a>&nbsp;<a href="index-3.html">C</a>&nbsp;<a href="index-4.html">D</a>&nbsp;<a href="index-5.html">E</a>&nbsp;<a href="index-6.html">F</a>&nbsp;<a href="index-7.html">G</a>&nbsp;<a href="index-8.html">H</a>&nbsp;<a href="index-9.html">I</a>&nbsp;<a href="index-10.html">K</a>&nbsp;<a href="index-11.html">L</a>&nbsp;<a href="index-12.html">M</a>&nbsp;<a href="index-13.html">N</a>&nbsp;<a href="index-14.html">O</a>&nbsp;<a href="index-15.html">P</a>&nbsp;<a href="index-16.html">Q</a>&nbsp;<a href="index-17.html">R</a>&nbsp;<a href="index-18.html">S</a>&nbsp;<a href="index-19.html">T</a>&nbsp;<a href="index-20.html">U</a>&nbsp;<a href="index-21.html">V</a>&nbsp;<a href="index-22.html">W</a>&nbsp;<a href="index-23.html">X</a>&nbsp;<a href="index-24.html">Y</a>&nbsp;<a href="index-25.html">Z</a>&nbsp;<a href="index-26.html">_</a>&nbsp;<br><a href="../allclasses-index.html">All&nbsp;Classes&nbsp;and&nbsp;Interfaces</a><span class="vertical-separator">|</span><a href="../allpackages-index.html">All&nbsp;Packages</a><span class="vertical-separator">|</span><a href="../constant-values.html">Constant&nbsp;Field&nbsp;Values</a>
<h2 class="title" id="I:H">H</h2>
<dl class="index">
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#hashCode()" class="member-name-link">hashCode()</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/parser/json/ControllerPropertiesJson.html#heading" class="member-name-link">heading</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/ControllerPropertiesJson.html" title="class in swervelib.parser.json">ControllerPropertiesJson</a></dt>
<dd>
<div class="block">The PID used to control the robot heading.</div>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 13:12:34 CDT 2023 -->
<title>I-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -93,6 +93,14 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Swerve IMU device for sensing the heading of the robot.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#interpolate(swervelib.math.SwervePoseEstimator2.InterpolationRecord,double)" class="member-name-link">interpolate(SwervePoseEstimator2.InterpolationRecord, double)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>
<div class="block">Return the interpolated record.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">InterpolationRecord(Pose2d, Rotation2d, Rotation2d, Rotation2d, SwerveModulePosition[])</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>
<div class="block">Constructs an Interpolation Record with the specified parameters.</div>
</dd>
<dt><a href="../swervelib/encoders/AnalogAbsoluteEncoderSwerve.html#inverted" class="member-name-link">inverted</a> - Variable in class swervelib.encoders.<a href="../swervelib/encoders/AnalogAbsoluteEncoderSwerve.html" title="class in swervelib.encoders">AnalogAbsoluteEncoderSwerve</a></dt>
<dd>
<div class="block">Inversion state of the encoder.</div>