Package swervelib.parser

Class SwerveControllerConfiguration

java.lang.Object

swervelib.parser.SwerveControllerConfiguration

public class SwerveControllerConfiguration
extends Object

Swerve Controller configuration class which is used to configure SwerveController.

Field Summary

Fields

Modifier and Type	Field	Description
final double	angleJoyStickRadiusDeadband	hypotenuse deadband for the robot angle control joystick.
final PIDFConfig	headingPIDF	PIDF for the heading of the robot.
double	maxAngularVelocity	Maximum angular velocity in rad/s
double	maxSpeed	Maximum robot speed in meters per second.

Constructor Summary

Constructors

Constructor	Description
SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF)	Construct the swerve controller configuration.
SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF, double angleJoyStickRadiusDeadband)	Construct the swerve controller configuration.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

headingPIDF

public final PIDFConfig headingPIDF

PIDF for the heading of the robot.

angleJoyStickRadiusDeadband

public final double angleJoyStickRadiusDeadband

hypotenuse deadband for the robot angle control joystick.

maxSpeed

public double maxSpeed

Maximum robot speed in meters per second.

maxAngularVelocity

public double maxAngularVelocity

Maximum angular velocity in rad/s

Constructor Details

SwerveControllerConfiguration

public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg,
 PIDFConfig headingPIDF,
 double angleJoyStickRadiusDeadband)

Construct the swerve controller configuration.

Parameters:

driveCfg - Drive configuration.

headingPIDF - Heading PIDF configuration.

angleJoyStickRadiusDeadband - Deadband on radius of angle joystick.

SwerveControllerConfiguration

public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg,
 PIDFConfig headingPIDF)

Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be set on angle joystick is .5 of the controller).

Parameters:

driveCfg - Drive configuration.

headingPIDF - Heading PIDF configuration.