edu.wpi.first.math.kinematics.ChassisSpeedsgetTargetSpeeds(double xInput,
@@ -342,8 +342,7 @@ loadScripts(document, 'script');
double yInput,
double angle,
double currentHeadingAngleRadians) xInput - X joystick input for the robot to move in the X direction.NavXSwerve(edu.wpi.first.wpilibj.SerialPort.Port port) port - Serial Port to connect to.doubledoublebooleanbooleanprivate doubleplaceInAppropriate0To360Scope(double scopeReference,
+private double
+placeInAppropriate0To360Scope(double scopeReference,
double newAngle)
-
+
Put an angle within the the 360 deg scope of a reference.
-void
-set(double percentOutput)
-
+void
+set(double percentOutput)
+
Set the percentage output.
-
-setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
-
+
+setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
+
Set the absolute encoder to be a compatible absolute encoder.
-void
-setCurrentLimit(int currentLimit)
-
+void
+setCurrentLimit(int currentLimit)
+
Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
voltage compensation.
-void
-setInverted(boolean inverted)
-
+void
+setInverted(boolean inverted)
+
Set the motor to be inverted.
-void
-setLoopRampRate(double rampRate)
-
+void
+setLoopRampRate(double rampRate)
+
Set the maximum rate the open/closed loop output can change by.
-void
-setMotorBrake(boolean isBrakeMode)
-
+void
+setMotorBrake(boolean isBrakeMode)
+
Set the idle mode.
-void
-setPosition(double position)
-
+void
+setPosition(double position)
+
Set the integrated encoder position.
-void
-setReference(double setpoint,
+void
+setReference(double setpoint,
double feedforward)
-
+
Set the closed loop PID controller reference point.
-void
-setVoltageCompensation(double nominalVoltage)
-
+void
+setVoltageCompensation(double nominalVoltage)
+
Set the voltage compensation for the swerve module motor.
@@ -637,17 +632,6 @@ loadScripts(document, 'script');
-
-
-getRawPosition
-public double getRawPosition()
-Get the raw position.
-
-- Returns:
-- Position in meters or degrees.
-
-
-
--
getPosition
public double getPosition()
diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html
index 610e722..419da0a 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 76ca196..089c4b6 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 c589e28..fa39f2a 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 87c22c3..df0695a 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 9c4140d..152da59 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 4d7e488..4a2c1ff 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 1df96c5..f6f03a3 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 1edb502..31fbc95 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 51a8ebb..8622c51 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 ff8d944..0733eca 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 d93cfdf..51895be 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 c73a9f7..5508e9c 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 fb1dcb4..d685baf 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 8003c94..32723c5 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 f46dc24..fc09527 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 65a8bb0..6adbd8b 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 ca2cf44..f343113 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 051a4b5..9eaf271 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 5aec402..201d07d 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 d6e50cf..59e632d 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 d2b4c76..c163d56 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 2b4ab58..5bf18ea 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 0694a1d..c18380b 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 a7b1553..8f472a7 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 15fd80a..13e4834 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 95e8c1e..391a60b 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 1665431..ef2c2f3 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 79b055f..8f5a9eb 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 b9fc596..4129e42 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 6273e35..6b09172 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 ac00a1d..740e5c7 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 357d4ef..aa1081f 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 681c631..8a02018 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 b4d85bd..518b294 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 49618e9..cc55148 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 e89a785..39ad86c 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 4d7c650..447b02b 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 d31ed28..6012e2e 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 cef3afa..7f39a00 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 e7eec23..5fdc895 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 8d43abc..5a76dfa 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.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html
index 192af42..d3df1a0 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 3d49355..8327ced 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 5b3d3d8..f0ddb30 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/SwerveController.java b/swervelib/SwerveController.java
index f8c4be8..5edeb09 100644
--- a/swervelib/SwerveController.java
+++ b/swervelib/SwerveController.java
@@ -92,8 +92,7 @@ public class SwerveController
}
/**
- * Get the chassis speeds based on controller input of 1 joystick and an angle. Cubes the x and y input for smoother
- * motion.
+ * Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
*
* @param xInput X joystick input for the robot to move in the X direction.
* @param yInput Y joystick input for the robot to move in the Y direction.
@@ -106,8 +105,8 @@ public class SwerveController
{
// Convert joystick inputs to m/s by scaling by max linear speed. Also uses a cubic function
// to allow for precise control and fast movement.
- double x = Math.pow(xInput, 3) * config.maxSpeed;
- double y = Math.pow(yInput, 3) * config.maxSpeed;
+ double x = xInput * config.maxSpeed;
+ double y = yInput * config.maxSpeed;
return getRawTargetSpeeds(x, y, angle, currentHeadingAngleRadians);
}
diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java
index 1bc6a8f..7a5d346 100644
--- a/swervelib/SwerveDrive.java
+++ b/swervelib/SwerveDrive.java
@@ -11,6 +11,7 @@ import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
@@ -122,20 +123,23 @@ public class SwerveDrive
SwerveDriveTelemetry.maxSpeed = swerveDriveConfiguration.maxSpeed;
SwerveDriveTelemetry.maxAngularVelocity = swerveController.config.maxAngularVelocity;
SwerveDriveTelemetry.moduleCount = swerveModules.length;
- SwerveDriveTelemetry.sizeFrontBack = (SwerveMath.getSwerveModule(swerveModules, true, false).moduleLocation.getX() +
- SwerveMath.getSwerveModule(swerveModules,
- false,
- false).moduleLocation.getX()) / 2;
- SwerveDriveTelemetry.sizeLeftRight = (SwerveMath.getSwerveModule(swerveModules, false, true).moduleLocation.getY() +
- SwerveMath.getSwerveModule(swerveModules,
- false,
- false).moduleLocation.getY()) / 2;
+ SwerveDriveTelemetry.sizeFrontBack = Units.metersToInches(SwerveMath.getSwerveModule(swerveModules, true,
+ false).moduleLocation.getX() +
+ SwerveMath.getSwerveModule(swerveModules,
+ false,
+ false).moduleLocation.getX());
+ SwerveDriveTelemetry.sizeLeftRight = Units.metersToInches(SwerveMath.getSwerveModule(swerveModules, false,
+ true).moduleLocation.getY() +
+ SwerveMath.getSwerveModule(swerveModules,
+ false,
+ false).moduleLocation.getY());
SwerveDriveTelemetry.wheelLocations = new double[SwerveDriveTelemetry.moduleCount * 2];
for (SwerveModule module : swerveModules)
{
- SwerveDriveTelemetry.wheelLocations[module.moduleNumber * 2] = module.configuration.moduleLocation.getX() / 2;
- SwerveDriveTelemetry.wheelLocations[(module.moduleNumber * 2) + 1] =
- module.configuration.moduleLocation.getY() / 2;
+ SwerveDriveTelemetry.wheelLocations[module.moduleNumber * 2] = Units.metersToInches(
+ module.configuration.moduleLocation.getX());
+ SwerveDriveTelemetry.wheelLocations[(module.moduleNumber * 2) + 1] = Units.metersToInches(
+ module.configuration.moduleLocation.getY());
}
SwerveDriveTelemetry.measuredStates = new double[SwerveDriveTelemetry.moduleCount * 2];
SwerveDriveTelemetry.desiredStates = new double[SwerveDriveTelemetry.moduleCount * 2];
@@ -215,6 +219,10 @@ public class SwerveDrive
*/
public void setChassisSpeeds(ChassisSpeeds chassisSpeeds)
{
+ SwerveDriveTelemetry.desiredChassisSpeeds[1] = chassisSpeeds.vyMetersPerSecond;
+ SwerveDriveTelemetry.desiredChassisSpeeds[0] = chassisSpeeds.vxMetersPerSecond;
+ SwerveDriveTelemetry.desiredChassisSpeeds[2] = Math.toDegrees(chassisSpeeds.omegaRadiansPerSecond);
+
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds), false);
}
diff --git a/swervelib/motors/TalonFXSwerve.java b/swervelib/motors/TalonFXSwerve.java
index c2c36a0..8e231ff 100644
--- a/swervelib/motors/TalonFXSwerve.java
+++ b/swervelib/motors/TalonFXSwerve.java
@@ -288,7 +288,7 @@ public class TalonFXSwerve extends SwerveMotor
public double convertToNativeSensorUnits(double setpoint)
{
setpoint =
- isDriveMotor ? setpoint * .1 : placeInAppropriate0To360Scope(getRawPosition(), setpoint);
+ isDriveMotor ? setpoint * .1 : placeInAppropriate0To360Scope(getPosition(), setpoint);
return setpoint / positionConversionFactor;
}
@@ -327,16 +327,6 @@ public class TalonFXSwerve extends SwerveMotor
return (motor.getSelectedSensorVelocity() * 10) * positionConversionFactor;
}
- /**
- * Get the raw position.
- *
- * @return Position in meters or degrees.
- */
- public double getRawPosition()
- {
- return motor.getSelectedSensorPosition() * positionConversionFactor;
- }
-
/**
* Get the position of the integrated encoder.
*
@@ -345,7 +335,7 @@ public class TalonFXSwerve extends SwerveMotor
@Override
public double getPosition()
{
- return isDriveMotor ? getRawPosition() : getRawPosition() % 360;
+ return motor.getSelectedSensorPosition() * positionConversionFactor;
}
/**
@@ -358,7 +348,7 @@ public class TalonFXSwerve extends SwerveMotor
{
if (!absoluteEncoder && !RobotBase.isSimulation())
{
- motor.setSelectedSensorPosition(convertToNativeSensorUnits(position), 0, 250);
+ motor.setSelectedSensorPosition(position / positionConversionFactor, 0, 250);
}
}