Package swervelib.parser

Class SwerveParser

java.lang.Object

swervelib.parser.SwerveParser

public class SwerveParser
extends Object

Helper class used to parse the JSON directory with specified configuration options.

Field Summary

Fields

Modifier and Type	Field	Description
static ControllerPropertiesJson	controllerPropertiesJson	Parsed controllerproperties.json
static ModuleJson[]	moduleJsons	Array holding the module jsons given in SwerveDriveJson.
static PhysicalPropertiesJson	physicalPropertiesJson	Parsed modules/physicalproperties.json
static PIDFPropertiesJson	pidfPropertiesJson	Parsed modules/pidfproperties.json
static SwerveDriveJson	swerveDriveJson	Parsed swervedrive.json

Constructor Summary

Constructors

Constructor	Description
SwerveParser(File directory)	Construct a swerve parser.

Method Summary

Modifier and Type	Method	Description
SwerveDrive	createSwerveDrive()	Create SwerveDrive from JSON configuration directory.
static SwerveModule	getModuleConfigurationByName(String name, SwerveDriveConfiguration driveConfiguration)	Get the swerve module by the json name.

Methods inherited from class java.lang.Object

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

Field Details

swerveDriveJson

public static SwerveDriveJson swerveDriveJson

Parsed swervedrive.json

controllerPropertiesJson

public static ControllerPropertiesJson controllerPropertiesJson

Parsed controllerproperties.json

pidfPropertiesJson

public static PIDFPropertiesJson pidfPropertiesJson

Parsed modules/pidfproperties.json

physicalPropertiesJson

public static PhysicalPropertiesJson physicalPropertiesJson

Parsed modules/physicalproperties.json

moduleJsons

public static ModuleJson[] moduleJsons

Array holding the module jsons given in SwerveDriveJson.

Constructor Details

SwerveParser

public SwerveParser(File directory)
             throws IOException

Construct a swerve parser. Will throw an error if there is a missing file.

Parameters:

directory - Directory with swerve configurations.

Throws:

IOException - if a file doesn't exist.

Method Details

getModuleConfigurationByName

public static SwerveModule getModuleConfigurationByName(String name,
 SwerveDriveConfiguration driveConfiguration)

Get the swerve module by the json name.

Parameters:

name - JSON name.

driveConfiguration - SwerveDriveConfiguration to pull from.

Returns:

SwerveModuleConfiguration based on the file.

createSwerveDrive

public SwerveDrive createSwerveDrive()

Create SwerveDrive from JSON configuration directory.

Returns:

SwerveDrive instance.