Package swervelib.math

Class SwerveMath

java.lang.Object
swervelib.math.SwerveMath
public class SwerveMath extends Object
Mathematical functions which pertain to swerve drive.

  • Constructor Details

    • SwerveMath

      public SwerveMath()

  • Method Details

    • calculateAngleKV

      public static double calculateAngleKV(double optimalVoltage, double motorFreeSpeedRPM, double angleGearRatio)
      Calculate the angle kV which will be multiplied by the radians per second for the feedforward. Volt * seconds / degree == (maxVolts) / (maxSpeed)
      Parameters:
      optimalVoltage - Optimal voltage to use when calculating the angle kV.
      motorFreeSpeedRPM - Motor free speed in Rotations per Minute.
      angleGearRatio - Angle gear ratio, the amount of times the motor as to turn for the wheel rotation.
      Returns:
      angle kV for feedforward.

    • calculateMetersPerRotation

      public static double calculateMetersPerRotation(double wheelDiameter, double driveGearRatio, double pulsePerRotation)
      Calculate the meters per rotation for the integrated encoder. Calculation: 4in diameter wheels * pi [circumfrence] / gear ratio.
      Parameters:
      wheelDiameter - Wheel diameter in meters.
      driveGearRatio - The gear ratio of the drive motor.
      pulsePerRotation - The number of encoder pulses per rotation. 1 if using an integrated encoder.
      Returns:
      Meters per rotation for the drive motor.

    • normalizeAngle

      public static double normalizeAngle(double angle)
      Normalize an angle to be within 0 to 360.
      Parameters:
      angle - Angle in degrees.
      Returns:
      Normalized angle in degrees.

    • applyDeadband

      public static double applyDeadband(double value, boolean scaled, double deadband)
      Algebraically apply a deadband using a piece wise function.
      Parameters:
      value - value to apply deadband to.
      scaled - Use algebra to determine deadband by starting the value at 0 past deadband.
      deadband - The deadbnad to apply.
      Returns:
      Value with deadband applied.

    • calculateDegreesPerSteeringRotation

      public static double calculateDegreesPerSteeringRotation(double angleGearRatio, double pulsePerRotation)
      Calculate the degrees per steering rotation for the integrated encoder. Encoder conversion values. Drive converts motor rotations to linear wheel distance and steering converts motor rotations to module azimuth.
      Parameters:
      angleGearRatio - The gear ratio of the steering motor.
      pulsePerRotation - The number of pulses in a complete rotation for the encoder, 1 if integrated.
      Returns:
      Degrees per steering rotation for the angle motor.

    • calculateMaxAngularVelocity

      public static double calculateMaxAngularVelocity(double maxSpeed, double furthestModuleX, double furthestModuleY)
      Calculate the maximum angular velocity.
      Parameters:
      maxSpeed - Max speed of the robot in meters per second.
      furthestModuleX - X of the furthest module in meters.
      furthestModuleY - Y of the furthest module in meters.
      Returns:
      Maximum angular velocity in rad/s.

    • calculateMaxAcceleration

      public static double calculateMaxAcceleration(double cof)
      Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
      Parameters:
      cof - Coefficient of Friction of the wheel grip tape.
      Returns:
      Practical maximum acceleration in m/s/s.

    • calculateMaxAcceleration

      public static double calculateMaxAcceleration(double stallTorqueNm, double gearRatio, double moduleCount, double wheelDiameter, double robotMass)
      Calculate the maximum theoretical acceleration without friction.
      Parameters:
      stallTorqueNm - Stall torque of driving motor in nM.
      gearRatio - Gear ratio for driving motor number of motor rotations until one wheel rotation.
      moduleCount - Number of swerve modules.
      wheelDiameter - Wheel diameter in meters.
      robotMass - Mass of the robot in kg.
      Returns:
      Theoretical maximum acceleration in m/s/s.

    • calcMaxAccel

      private static double calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d angle, List<Matter> matter, double robotMass, SwerveDriveConfiguration config)
      Calculates the maximum acceleration allowed in a direction without tipping the robot. Reads arm position from NetworkTables and is passed the direction in question.
      Parameters:
      angle - The direction in which to calculate max acceleration, as a Rotation2d. Note that this is robot-relative.
      matter - Matter that the robot is composed of in kg. (Includes chassis)
      robotMass - The weight of the robot in kg. (Including manipulators, etc).
      config - The swerve drive configuration.
      Returns:
      Maximum acceleration allowed in the robot direction.

    • limitVelocity

      public static edu.wpi.first.math.geometry.Translation2d limitVelocity(edu.wpi.first.math.geometry.Translation2d commandedVelocity, edu.wpi.first.math.kinematics.ChassisSpeeds fieldVelocity, edu.wpi.first.math.geometry.Pose2d robotPose, double loopTime, double robotMass, List<Matter> matter, SwerveDriveConfiguration config)
      Limits a commanded velocity to prevent exceeding the maximum acceleration given by calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration). Note that this takes and returns field-relative velocities.
      Parameters:
      commandedVelocity - The desired velocity
      fieldVelocity - The velocity of the robot within a field relative state.
      robotPose - The current pose of the robot.
      loopTime - The time it takes to update the velocity in seconds. Note: this should include the 100ms that it takes for a SparkMax velocity to update.
      matter - Matter that the robot is composed of with position in meters and mass in kg.
      robotMass - The weight of the robot in kg. (Including manipulators, etc).
      config - The swerve drive configuration.
      Returns:
      The limited velocity. This is either the commanded velocity, if attainable, or the closest attainable velocity.

    • getSwerveModule

      public static SwerveModuleConfiguration getSwerveModule(SwerveModule[] modules, boolean front, boolean left)
      Get the fruthest module from center based on the module locations.
      Parameters:
      modules - Swerve module list.
      front - True = furthest front, False = furthest back.
      left - True = furthest left, False = furthest right.
      Returns:
      Module location which is the furthest from center and abides by parameters.

    • optimize

      public static SwerveModuleState2 optimize(SwerveModuleState2 desiredState, edu.wpi.first.math.geometry.Rotation2d currentAngle, double secondOrderOffsetDegrees)
      Optimize the angle of the SwerveModuleState2 to be the closest angle to the current angle. Taken from Team 3181 at https://github.com/pittsfordrobotics/REVSwerve2023/blob/master/src/main/java/com/team3181/lib/swerve/SwerveOptimizer.java
      Parameters:
      desiredState - Desired SwerveModuleState2 to achieve.
      currentAngle - Current angle as a Rotation2d.
      secondOrderOffsetDegrees - Offset calculated using 2nd order kinematics.
      Returns:
      Optimized SwerveModuleState2

    • placeInAppropriate0To360Scope

      public static double placeInAppropriate0To360Scope(double scopeReference, double newAngle)
      Put an angle within the 360 deg scope of a reference. For example, given a scope reference of 756 degrees, assumes the full scope is (720-1080), and places an angle of 22 degrees into it, returning 742 deg.
      Parameters:
      scopeReference - Current Angle (deg)
      newAngle - Target Angle (deg)
      Returns:
      Closest angle within scope (deg)

    • antiJitter

      public static void antiJitter(SwerveModuleState2 moduleState, SwerveModuleState2 lastModuleState, double maxSpeed)
      Perform anti-jitter within modules if the speed requested is too low.
      Parameters:
      moduleState - Current SwerveModuleState2 requested.
      lastModuleState - Previous SwerveModuleState2 used.
      maxSpeed - Maximum speed of the modules, should be in SwerveDriveConfiguration.maxSpeed.