Package swervelib.parser.json

Class ModuleJson

java.lang.Object

swervelib.parser.json.ModuleJson

public class ModuleJson
extends Object

SwerveModule JSON parsed class. Used to access the JSON data.

Field Summary

Fields

Modifier and Type	Field	Description
boolean	absoluteEncoderInverted	Absolute encoder inversion state.
double	absoluteEncoderOffset	Absolute encoder offset from 0 in degrees.
DeviceJson	angle	Angle motor device configuration.
DeviceJson	drive	Drive motor device configuration.
DeviceJson	encoder	Absolute encoder device configuration.
BoolMotorJson	inverted	Defines which motors are inverted.
LocationJson	location	The location of the swerve module from the center of the robot in inches.

Constructor Summary

Constructors

Constructor	Description
ModuleJson()

Method Summary

Modifier and Type	Method	Description
SwerveModuleConfiguration	createModuleConfiguration(PIDFConfig anglePIDF, PIDFConfig velocityPIDF, double maxSpeed, SwerveModulePhysicalCharacteristics physicalCharacteristics)	Create the swerve module configuration based off of parsed data.

Methods inherited from class java.lang.Object

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

Field Details

drive

public DeviceJson drive

Drive motor device configuration.

angle

public DeviceJson angle

Angle motor device configuration.

encoder

public DeviceJson encoder

Absolute encoder device configuration.

inverted

public BoolMotorJson inverted

Defines which motors are inverted.

absoluteEncoderOffset

public double absoluteEncoderOffset

Absolute encoder offset from 0 in degrees.

absoluteEncoderInverted

public boolean absoluteEncoderInverted

Absolute encoder inversion state.

location

public LocationJson location

The location of the swerve module from the center of the robot in inches.

Constructor Details

ModuleJson

public ModuleJson()

Method Details

createModuleConfiguration

public SwerveModuleConfiguration createModuleConfiguration(PIDFConfig anglePIDF,
 PIDFConfig velocityPIDF,
 double maxSpeed,
 SwerveModulePhysicalCharacteristics physicalCharacteristics)

Create the swerve module configuration based off of parsed data.

Parameters:

anglePIDF - The PIDF values for the angle motor.

velocityPIDF - The velocity PIDF values for the drive motor.

maxSpeed - The maximum speed of the robot in meters per second.

physicalCharacteristics - Physical characteristics of the swerve module.

Returns:

SwerveModuleConfiguration based on the provided data and parsed data.