Package swervelib.parser

Class SwerveDriveConfiguration

java.lang.Object

swervelib.parser.SwerveDriveConfiguration

public class SwerveDriveConfiguration
extends Object

Swerve drive configurations used during SwerveDrive construction.

Field Summary

Fields

Modifier and Type	Field	Description
double	attainableMaxRotationalVelocityRadiansPerSecond	Max module speed in meters per second.
double	attainableMaxTranslationalSpeedMetersPerSecond	Max module speed in meters per second.
SwerveIMU	imu	Swerve IMU
boolean	invertedIMU	Invert the imu measurements.
double	maxSpeed	Max module speed in meters per second.
int	moduleCount	Number of modules on the robot.
edu.wpi.first.math.geometry.Translation2d[]	moduleLocationsMeters	Swerve Module locations.
SwerveModule[]	modules	Swerve Modules.

Constructor Summary

Constructors

Constructor	Description
SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, SwerveIMU swerveIMU, double maxSpeed, boolean invertedIMU)	Create swerve drive configuration.

Method Summary

Modifier and Type	Method	Description
SwerveModule[]	createModules(SwerveModuleConfiguration[] swerves)	Create modules based off of the SwerveModuleConfiguration.

Methods inherited from class java.lang.Object

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

Field Details

moduleLocationsMeters

public edu.wpi.first.math.geometry.Translation2d[] moduleLocationsMeters

Swerve Module locations.

imu

public SwerveIMU imu

Swerve IMU

invertedIMU

public boolean invertedIMU

Invert the imu measurements.

maxSpeed

public double maxSpeed

Max module speed in meters per second.

attainableMaxTranslationalSpeedMetersPerSecond

public double attainableMaxTranslationalSpeedMetersPerSecond

Max module speed in meters per second.

attainableMaxRotationalVelocityRadiansPerSecond

public double attainableMaxRotationalVelocityRadiansPerSecond

Max module speed in meters per second.

moduleCount

public int moduleCount

Number of modules on the robot.

modules

public SwerveModule[] modules

Swerve Modules.

Constructor Details

SwerveDriveConfiguration

public SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs,
 SwerveIMU swerveIMU,
 double maxSpeed,
 boolean invertedIMU)

Create swerve drive configuration.

Parameters:

moduleConfigs - Module configuration.

swerveIMU - Swerve IMU.

maxSpeed - Max speed of the robot in meters per second.

invertedIMU - Invert the IMU.

Method Details

createModules

public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves)

Create modules based off of the SwerveModuleConfiguration.

Parameters:

swerves - Swerve constants.

Returns:

Swerve Modules.