Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-06-19 06:21:40 +00:00
Code Issues Packages Projects Releases Wiki Activity
Files
154bee371a08c7229093ba5300b4b4abf8b3a4ee
YAGSL/docs/swervelib/parser/SwerveModuleConfiguration.html
thenetworkgrinch 8f28956426 Updated support for Talons
2023-02-13 17:21:24 -06:00

677 lines
30 KiB
HTML
Raw Blame History

<!DOCTYPE HTML>
<!-- NewPage -->
<html lang="en">
<head>
<!-- Generated by javadoc (11.0.17) on Mon Feb 13 17:20:01 CST 2023 -->
<title>SwerveModuleConfiguration</title>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-02-13">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
<link rel="stylesheet" type="text/css" href="../../jquery/jquery-ui.min.css" title="Style">
<link rel="stylesheet" type="text/css" href="../../jquery-ui.overrides.css" title="Style">
<script type="text/javascript" src="../../script.js"></script>
<script type="text/javascript" src="../../jquery/jszip/dist/jszip.min.js"></script>
<script type="text/javascript" src="../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
<!--[if IE]>
<script type="text/javascript" src="../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
<![endif]-->
<script type="text/javascript" src="../../jquery/jquery-3.6.0.min.js"></script>
<script type="text/javascript" src="../../jquery/jquery-ui.min.js"></script>
</head>
<body>
<script type="text/javascript"><!--
try {
if (location.href.indexOf('is-external=true') == -1) {
parent.document.title="SwerveModuleConfiguration";
}
}
catch(err) {
}
//-->
var data = {"i0":10,"i1":10};
var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
var altColor = "altColor";
var rowColor = "rowColor";
var tableTab = "tableTab";
var activeTableTab = "activeTableTab";
var pathtoroot = "../../";
var useModuleDirectories = true;
loadScripts(document, 'script');</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
</noscript>
<header role="banner">
<nav role="navigation">
<div class="fixedNav">
<!-- ========= START OF TOP NAVBAR ======= -->
<div class="topNav"><a id="navbar.top">
<!-- -->
</a>
<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
<a id="navbar.top.firstrow">
<!-- -->
</a>
<ul class="navList" title="Navigation">
<li><a href="../../index.html">Overview</a></li>
<li><a href="package-summary.html">Package</a></li>
<li class="navBarCell1Rev">Class</li>
<li><a href="package-tree.html">Tree</a></li>
<li><a href="../../deprecated-list.html">Deprecated</a></li>
<li><a href="../../index-files/index-1.html">Index</a></li>
<li><a href="../../help-doc.html">Help</a></li>
</ul>
</div>
<div class="subNav">
<ul class="navList" id="allclasses_navbar_top">
<li><a href="../../allclasses.html">All&nbsp;Classes</a></li>
</ul>
<ul class="navListSearch">
<li><label for="search">SEARCH:</label>
<input type="text" id="search" value="search" disabled="disabled">
<input type="reset" id="reset" value="reset" disabled="disabled">
</li>
</ul>
<div>
<script type="text/javascript"><!--
allClassesLink = document.getElementById("allclasses_navbar_top");
if(window==top) {
allClassesLink.style.display = "block";
}
else {
allClassesLink.style.display = "none";
}
//-->
</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
</noscript>
</div>
<div>
<ul class="subNavList">
<li>Summary:&nbsp;</li>
<li>Nested&nbsp;|&nbsp;</li>
<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method.summary">Method</a></li>
</ul>
<ul class="subNavList">
<li>Detail:&nbsp;</li>
<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method.detail">Method</a></li>
</ul>
</div>
<a id="skip.navbar.top">
<!-- -->
</a></div>
<!-- ========= END OF TOP NAVBAR ========= -->
</div>
<div class="navPadding">&nbsp;</div>
<script type="text/javascript"><!--
$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
//-->
</script>
</nav>
</header>
<!-- ======== START OF CLASS DATA ======== -->
<main role="main">
<div class="header">
<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser</a></div>
<h2 title="Class SwerveModuleConfiguration" class="title">Class SwerveModuleConfiguration</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
<li>
<ul class="inheritance">
<li>swervelib.parser.SwerveModuleConfiguration</li>
</ul>
</li>
</ul>
<div class="description">
<ul class="blockList">
<li class="blockList">
<hr>
<pre>public class <span class="typeNameLabel">SwerveModuleConfiguration</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
<div class="block">Swerve Module configuration class which is used to configure <a href="../SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>.</div>
</li>
</ul>
</div>
<div class="summary">
<ul class="blockList">
<li class="blockList">
<!-- =========== FIELD SUMMARY =========== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="field.summary">
<!-- -->
</a>
<h3>Field Summary</h3>
<table class="memberSummary">
<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Field</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoder">absoluteEncoder</a></span></code></th>
<td class="colLast">
<div class="block">The Absolute Encoder for the swerve module.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#absoluteEncoderInverted">absoluteEncoderInverted</a></span></code></th>
<td class="colLast">
<div class="block">Whether the absolute encoder is inverted.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleKV">angleKV</a></span></code></th>
<td class="colLast">
<div class="block">Angle volt-meter-per-second.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotor">angleMotor</a></span></code></th>
<td class="colLast">
<div class="block">The drive motor and angle motor of this swerve module.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorInverted">angleMotorInverted</a></span></code></th>
<td class="colLast">
<div class="block">State of inversion of the angle motor.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleOffset">angleOffset</a></span></code></th>
<td class="colLast">
<div class="block">Angle offset in degrees for the Swerve Module.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#anglePIDF">anglePIDF</a></span></code></th>
<td class="colLast">
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotor">driveMotor</a></span></code></th>
<td class="colLast">
<div class="block">The drive motor and angle motor of this swerve module.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotorInverted">driveMotorInverted</a></span></code></th>
<td class="colLast">
<div class="block">State of inversion of the drive motor.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxSpeed">maxSpeed</a></span></code></th>
<td class="colLast">
<div class="block">Maximum robot speed in meters per second.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>edu.wpi.first.math.geometry.Translation2d</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#moduleLocation">moduleLocation</a></span></code></th>
<td class="colLast">
<div class="block">Swerve module location relative to the robot.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code><a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#physicalCharacteristics">physicalCharacteristics</a></span></code></th>
<td class="colLast">
<div class="block">Physical characteristics of the swerve module.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#velocityPIDF">velocityPIDF</a></span></code></th>
<td class="colLast">
<div class="block">PIDF configuration options for the drive motor closed-loop PID controller.</div>
</td>
</tr>
</table>
</li>
</ul>
</section>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="constructor.summary">
<!-- -->
</a>
<h3>Constructor Summary</h3>
<table class="memberSummary">
<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
<tr>
<th class="colFirst" scope="col">Constructor</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr class="altColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)">SwerveModuleConfiguration</a></span>&#8203;(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</code></th>
<td class="colLast">
<div class="block">Construct a configuration object for swerve modules.</div>
</td>
</tr>
<tr class="rowColor">
<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)">SwerveModuleConfiguration</a></span>&#8203;(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
boolean&nbsp;absoluteEncoderInverted,
boolean&nbsp;driveMotorInverted,
boolean&nbsp;angleMotorInverted)</code></th>
<td class="colLast">
<div class="block">Construct a configuration object for swerve modules.</div>
</td>
</tr>
</table>
</li>
</ul>
</section>
<!-- ========== METHOD SUMMARY =========== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="method.summary">
<!-- -->
</a>
<h3>Method Summary</h3>
<table class="memberSummary">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colSecond" scope="col">Method</th>
<th class="colLast" scope="col">Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>edu.wpi.first.math.controller.SimpleMotorFeedforward</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createDriveFeedforward()">createDriveFeedforward</a></span>()</code></th>
<td class="colLast">
<div class="block">Create the drive feedforward for swerve modules.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPositionEncoderConversion(boolean)">getPositionEncoderConversion</a></span>&#8203;(boolean&nbsp;isDriveMotor)</code></th>
<td class="colLast">
<div class="block">Get the encoder conversion for position encoders.</div>
</td>
</tr>
</table>
<ul class="blockList">
<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
<!-- -->
</a>
<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
</ul>
</li>
</ul>
</section>
</li>
</ul>
</div>
<div class="details">
<ul class="blockList">
<li class="blockList">
<!-- ============ FIELD DETAIL =========== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="field.detail">
<!-- -->
</a>
<h3>Field Detail</h3>
<a id="angleOffset">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>angleOffset</h4>
<pre>public final&nbsp;double angleOffset</pre>
<div class="block">Angle offset in degrees for the Swerve Module.</div>
</li>
</ul>
<a id="absoluteEncoderInverted">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>absoluteEncoderInverted</h4>
<pre>public final&nbsp;boolean absoluteEncoderInverted</pre>
<div class="block">Whether the absolute encoder is inverted.</div>
</li>
</ul>
<a id="driveMotorInverted">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>driveMotorInverted</h4>
<pre>public final&nbsp;boolean driveMotorInverted</pre>
<div class="block">State of inversion of the drive motor.</div>
</li>
</ul>
<a id="angleMotorInverted">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>angleMotorInverted</h4>
<pre>public final&nbsp;boolean angleMotorInverted</pre>
<div class="block">State of inversion of the angle motor.</div>
</li>
</ul>
<a id="maxSpeed">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>maxSpeed</h4>
<pre>public final&nbsp;double maxSpeed</pre>
<div class="block">Maximum robot speed in meters per second.</div>
</li>
</ul>
<a id="anglePIDF">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>anglePIDF</h4>
<pre>public&nbsp;<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> anglePIDF</pre>
<div class="block">PIDF configuration options for the angle motor closed-loop PID controller.</div>
</li>
</ul>
<a id="velocityPIDF">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>velocityPIDF</h4>
<pre>public&nbsp;<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> velocityPIDF</pre>
<div class="block">PIDF configuration options for the drive motor closed-loop PID controller.</div>
</li>
</ul>
<a id="angleKV">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>angleKV</h4>
<pre>public&nbsp;double angleKV</pre>
<div class="block">Angle volt-meter-per-second.</div>
</li>
</ul>
<a id="moduleLocation">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>moduleLocation</h4>
<pre>public&nbsp;edu.wpi.first.math.geometry.Translation2d moduleLocation</pre>
<div class="block">Swerve module location relative to the robot.</div>
</li>
</ul>
<a id="physicalCharacteristics">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>physicalCharacteristics</h4>
<pre>public&nbsp;<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a> physicalCharacteristics</pre>
<div class="block">Physical characteristics of the swerve module.</div>
</li>
</ul>
<a id="driveMotor">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>driveMotor</h4>
<pre>public&nbsp;<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a> driveMotor</pre>
<div class="block">The drive motor and angle motor of this swerve module.</div>
</li>
</ul>
<a id="angleMotor">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>angleMotor</h4>
<pre>public&nbsp;<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a> angleMotor</pre>
<div class="block">The drive motor and angle motor of this swerve module.</div>
</li>
</ul>
<a id="absoluteEncoder">
<!-- -->
</a>
<ul class="blockListLast">
<li class="blockList">
<h4>absoluteEncoder</h4>
<pre>public&nbsp;<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a> absoluteEncoder</pre>
<div class="block">The Absolute Encoder for the swerve module.</div>
</li>
</ul>
</li>
</ul>
</section>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="constructor.detail">
<!-- -->
</a>
<h3>Constructor Detail</h3>
<a id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics,boolean,boolean,boolean)">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>SwerveModuleConfiguration</h4>
<pre>public&nbsp;SwerveModuleConfiguration&#8203;(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics,
boolean&nbsp;absoluteEncoderInverted,
boolean&nbsp;driveMotorInverted,
boolean&nbsp;angleMotorInverted)</pre>
<div class="block">Construct a configuration object for swerve modules.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>driveMotor</code> - Drive <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</dd>
<dd><code>angleMotor</code> - Angle <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a></dd>
<dd><code>absoluteEncoder</code> - Absolute encoder <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</dd>
<dd><code>angleOffset</code> - Absolute angle offset to 0.</dd>
<dd><code>absoluteEncoderInverted</code> - Absolute encoder inverted.</dd>
<dd><code>angleMotorInverted</code> - State of inversion of the angle motor.</dd>
<dd><code>driveMotorInverted</code> - Drive motor inverted.</dd>
<dd><code>xMeters</code> - Module location in meters from the center horizontally.</dd>
<dd><code>yMeters</code> - Module location in meters from center vertically.</dd>
<dd><code>anglePIDF</code> - Angle PIDF configuration.</dd>
<dd><code>velocityPIDF</code> - Velocity PIDF configuration.</dd>
<dd><code>maxSpeed</code> - Maximum speed in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
</dl>
</li>
</ul>
<a id="&lt;init&gt;(swervelib.motors.SwerveMotor,swervelib.motors.SwerveMotor,swervelib.encoders.SwerveAbsoluteEncoder,double,double,double,swervelib.parser.PIDFConfig,swervelib.parser.PIDFConfig,double,swervelib.parser.SwerveModulePhysicalCharacteristics)">
<!-- -->
</a>
<ul class="blockListLast">
<li class="blockList">
<h4>SwerveModuleConfiguration</h4>
<pre>public&nbsp;SwerveModuleConfiguration&#8203;(<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;driveMotor,
<a href="../motors/SwerveMotor.html" title="class in swervelib.motors">SwerveMotor</a>&nbsp;angleMotor,
<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&nbsp;absoluteEncoder,
double&nbsp;angleOffset,
double&nbsp;xMeters,
double&nbsp;yMeters,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;anglePIDF,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;velocityPIDF,
double&nbsp;maxSpeed,
<a href="SwerveModulePhysicalCharacteristics.html" title="class in swervelib.parser">SwerveModulePhysicalCharacteristics</a>&nbsp;physicalCharacteristics)</pre>
<div class="block">Construct a configuration object for swerve modules. Assumes the absolute encoder and drive motor are not
inverted.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>driveMotor</code> - Drive <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a>.</dd>
<dd><code>angleMotor</code> - Angle <a href="../motors/SwerveMotor.html" title="class in swervelib.motors"><code>SwerveMotor</code></a></dd>
<dd><code>absoluteEncoder</code> - Absolute encoder <a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders"><code>SwerveAbsoluteEncoder</code></a>.</dd>
<dd><code>angleOffset</code> - Absolute angle offset to 0.</dd>
<dd><code>xMeters</code> - Module location in meters from the center horizontally.</dd>
<dd><code>yMeters</code> - Module location in meters from center vertically.</dd>
<dd><code>anglePIDF</code> - Angle PIDF configuration.</dd>
<dd><code>velocityPIDF</code> - Velocity PIDF configuration.</dd>
<dd><code>maxSpeed</code> - Maximum robot speed in meters per second.</dd>
<dd><code>physicalCharacteristics</code> - Physical characteristics of the swerve module.</dd>
</dl>
</li>
</ul>
</li>
</ul>
</section>
<!-- ============ METHOD DETAIL ========== -->
<section>
<ul class="blockList">
<li class="blockList"><a id="method.detail">
<!-- -->
</a>
<h3>Method Detail</h3>
<a id="createDriveFeedforward()">
<!-- -->
</a>
<ul class="blockList">
<li class="blockList">
<h4>createDriveFeedforward</h4>
<pre class="methodSignature">public&nbsp;edu.wpi.first.math.controller.SimpleMotorFeedforward&nbsp;createDriveFeedforward()</pre>
<div class="block">Create the drive feedforward for swerve modules.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Drive feedforward for drive motor on a swerve module.</dd>
</dl>
</li>
</ul>
<a id="getPositionEncoderConversion(boolean)">
<!-- -->
</a>
<ul class="blockListLast">
<li class="blockList">
<h4>getPositionEncoderConversion</h4>
<pre class="methodSignature">public&nbsp;double&nbsp;getPositionEncoderConversion&#8203;(boolean&nbsp;isDriveMotor)</pre>
<div class="block">Get the encoder conversion for position encoders.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>isDriveMotor</code> - For the drive motor.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Position encoder conversion factor.</dd>
</dl>
</li>
</ul>
</li>
</ul>
</section>
</li>
</ul>
</div>
</div>
</main>
<!-- ========= END OF CLASS DATA ========= -->
<footer role="contentinfo">
<nav role="navigation">
<!-- ======= START OF BOTTOM NAVBAR ====== -->
<div class="bottomNav"><a id="navbar.bottom">
<!-- -->
</a>
<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
<a id="navbar.bottom.firstrow">
<!-- -->
</a>
<ul class="navList" title="Navigation">
<li><a href="../../index.html">Overview</a></li>
<li><a href="package-summary.html">Package</a></li>
<li class="navBarCell1Rev">Class</li>
<li><a href="package-tree.html">Tree</a></li>
<li><a href="../../deprecated-list.html">Deprecated</a></li>
<li><a href="../../index-files/index-1.html">Index</a></li>
<li><a href="../../help-doc.html">Help</a></li>
</ul>
</div>
<div class="subNav">
<ul class="navList" id="allclasses_navbar_bottom">
<li><a href="../../allclasses.html">All&nbsp;Classes</a></li>
</ul>
<div>
<script type="text/javascript"><!--
allClassesLink = document.getElementById("allclasses_navbar_bottom");
if(window==top) {
allClassesLink.style.display = "block";
}
else {
allClassesLink.style.display = "none";
}
//-->
</script>
<noscript>
<div>JavaScript is disabled on your browser.</div>
</noscript>
</div>
<div>
<ul class="subNavList">
<li>Summary:&nbsp;</li>
<li>Nested&nbsp;|&nbsp;</li>
<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method.summary">Method</a></li>
</ul>
<ul class="subNavList">
<li>Detail:&nbsp;</li>
<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method.detail">Method</a></li>
</ul>
</div>
<a id="skip.navbar.bottom">
<!-- -->
</a></div>
<!-- ======== END OF BOTTOM NAVBAR ======= -->
</nav>
</footer>
</body>
</html>
Reference in New Issue View Git Blame Copy Permalink