Package swervelib.parser.json

Class PhysicalPropertiesJson

java.lang.Object

swervelib.parser.json.PhysicalPropertiesJson

public class PhysicalPropertiesJson
extends Object

SwerveModulePhysicalCharacteristics parsed data. Used to configure the SwerveModule.

Field Summary

Fields

Modifier and Type	Field	Description
MotorConfigDouble	conversionFactor	Conversion factor applied to the motor controllers PID loops.
MotorConfigInt	currentLimit	The current limit in AMPs to apply to the motors.
double	optimalVoltage	The voltage to use for the smart motor voltage compensation, default is 12.
MotorConfigDouble	rampRate	The minimum number of seconds to take for the motor to go from 0 to full throttle.
double	wheelGripCoefficientOfFriction	The grip tape coefficient of friction on carpet.

Constructor Summary

Constructors

Constructor	Description
PhysicalPropertiesJson()

Method Summary

Modifier and Type	Method	Description
SwerveModulePhysicalCharacteristics	createPhysicalProperties()	Create the physical characteristics based off the parsed data.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

conversionFactor

public MotorConfigDouble conversionFactor

Conversion factor applied to the motor controllers PID loops. Can be calculated with SwerveMath.calculateDegreesPerSteeringRotation(double, double) for angle motors or SwerveMath.calculateMetersPerRotation(double, double, double) for drive motors.

currentLimit

public MotorConfigInt currentLimit

The current limit in AMPs to apply to the motors.

rampRate

public MotorConfigDouble rampRate

The minimum number of seconds to take for the motor to go from 0 to full throttle.

wheelGripCoefficientOfFriction

public double wheelGripCoefficientOfFriction

The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.

optimalVoltage

public double optimalVoltage

The voltage to use for the smart motor voltage compensation, default is 12.

Constructor Details

PhysicalPropertiesJson

public PhysicalPropertiesJson()

Method Details

createPhysicalProperties

public SwerveModulePhysicalCharacteristics createPhysicalProperties()

Create the physical characteristics based off the parsed data.

Returns:

SwerveModulePhysicalCharacteristics based on parsed data.