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
private static final HashMap<String,Integer>	moduleConfigs	Module number mapped to the JSON name.
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
private void	checkDirectory(File directory)	Check directory structure.
SwerveDrive	createSwerveDrive(double maxSpeed)	Create SwerveDrive from JSON configuration directory.
SwerveDrive	createSwerveDrive(double maxSpeed, double angleMotorConversionFactor, double driveMotorConversion)	Create SwerveDrive from JSON configuration directory.
SwerveDrive	createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward, double maxSpeed)	Create SwerveDrive from JSON configuration directory.
SwerveDrive	createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward, double maxSpeed, double angleMotorConversionFactor, double driveMotorConversion)	Create SwerveDrive from JSON configuration directory.
static SwerveModule	getModuleConfigurationByName(String name, SwerveDriveConfiguration driveConfiguration)	Get the swerve module by the json name.
private com.fasterxml.jackson.databind.JsonNode	openJson(File file)	Open JSON file.

Methods inherited from class java.lang.Object

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

Field Details

moduleConfigs

private static final HashMap<String,Integer> moduleConfigs

Module number mapped to the JSON name.

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.

openJson

private com.fasterxml.jackson.databind.JsonNode openJson(File file)

Open JSON file.

Parameters:

file - JSON File to open.

Returns:

JsonNode of file.

checkDirectory

private void checkDirectory(File directory)

Check directory structure.

Parameters:

directory - JSON Configuration Directory

createSwerveDrive

public SwerveDrive createSwerveDrive(double maxSpeed)

Create SwerveDrive from JSON configuration directory.

Parameters:

maxSpeed - Maximum speed of the robot in meters per second, used for both angular acceleration used in SwerveController and drive feedforward in SwerveMath.createDriveFeedforward(double, double, double).

Returns:

SwerveDrive instance.

createSwerveDrive

public SwerveDrive createSwerveDrive(double maxSpeed,
 double angleMotorConversionFactor,
 double driveMotorConversion)

Create SwerveDrive from JSON configuration directory.

Parameters:

maxSpeed - Maximum speed of the robot in meters per second, used for both angular acceleration used in SwerveController and drive feedforward in SwerveMath.createDriveFeedforward(double, double, double).

angleMotorConversionFactor - Angle (AKA azimuth) motor conversion factor to convert motor controller PID loop units to degrees, usually created using SwerveMath.calculateDegreesPerSteeringRotation(double, double).

driveMotorConversion - Drive motor conversion factor to convert motor controller PID loop units to meters per rotation, usually created using SwerveMath.calculateMetersPerRotation(double, double, double).

Returns:

SwerveDrive instance.

createSwerveDrive

public SwerveDrive createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward,
 double maxSpeed,
 double angleMotorConversionFactor,
 double driveMotorConversion)

Create SwerveDrive from JSON configuration directory.

Parameters:

driveFeedforward - Drive feedforward to use for swerve modules, should be created using SwerveMath.createDriveFeedforward(double, double, double).

maxSpeed - Maximum speed of the robot in meters per second for normal+angular acceleration in SwerveController of the robot.

angleMotorConversionFactor - Angle (AKA azimuth) motor conversion factor to convert motor controller PID loop units to degrees, usually created using SwerveMath.calculateDegreesPerSteeringRotation(double, double).

driveMotorConversion - Drive motor conversion factor to convert motor controller PID loop units to meters per rotation, usually created using SwerveMath.calculateMetersPerRotation(double, double, double).

Returns:

SwerveDrive instance.

createSwerveDrive

public SwerveDrive createSwerveDrive(edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward,
 double maxSpeed)

Create SwerveDrive from JSON configuration directory.

Parameters:

driveFeedforward - Drive feedforward to use for swerve modules, should be created using SwerveMath.createDriveFeedforward(double, double, double).

maxSpeed - Maximum speed of the robot in meters per second for normal+angular acceleration in SwerveController of the robot

Returns:

SwerveDrive instance.