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YAGSL/docs/frc/robot/subsystems/swervedrive/swerve/SwerveParser.html
thenetworkgrinch 2ebc3aa409 Updated javadocs to reflect changes
2023-01-31 10:52:13 -06:00

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<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></div>
<h2 title="Class SwerveParser" class="title">Class SwerveParser</h2>
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<li>java.lang.Object</li>
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<pre>public class <span class="typeNameLabel">SwerveParser</span>
extends java.lang.Object</pre>
<div class="block">Swerve Drive JSON parser.</div>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveParser</a></span>()</code></th>
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<td class="colFirst"><code>private static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkDirectory(java.io.File)">checkDirectory</a></span>&#8203;(java.io.File&nbsp;directory)</code></th>
<td class="colLast">
<div class="block">Check directory structure.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>private static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkMain(com.fasterxml.jackson.databind.JsonNode)">checkMain</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson)</code></th>
<td class="colLast">
<div class="block">Check the main json for correct attributes.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>private static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkModule(com.fasterxml.jackson.databind.JsonNode)">checkModule</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;moduleJson)</code></th>
<td class="colLast">
<div class="block">Check module JSON config for existing values.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>private static java.lang.Object</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createEncoder(com.fasterxml.jackson.databind.JsonNode)">createEncoder</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;encoderConfig)</code></th>
<td class="colLast">
<div class="block">Create SwerveEncoder from JSON config.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>private static com.ctre.phoenix.sensors.WPI_Pigeon2</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createGyro(com.fasterxml.jackson.databind.JsonNode)">createGyro</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;gyroConfig)</code></th>
<td class="colLast">
<div class="block">Create the gyro object based off the configuration.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>private static <a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">createModule</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson,
java.io.File&nbsp;moduleFile,
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;moduleLocation)</code></th>
<td class="colLast">
<div class="block">Create SwerveModule from JSON configuration file.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>private static edu.wpi.first.wpilibj.motorcontrol.MotorController</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#createMotor(com.fasterxml.jackson.databind.JsonNode)">createMotor</a></span>&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;motorConfig)</code></th>
<td class="colLast">
<div class="block">Create the motor controller based off the config.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>static <a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a></code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromJSONDirectory(java.io.File)">fromJSONDirectory</a></span>&#8203;(java.io.File&nbsp;directory)</code></th>
<td class="colLast">
<div class="block">Create SwerveDrive from JSON configuration directory.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>private static com.fasterxml.jackson.databind.JsonNode</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#openJson(java.io.File)">openJson</a></span>&#8203;(java.io.File&nbsp;file)</code></th>
<td class="colLast">
<div class="block">Open JSON file.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>private static void</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)">setModulePIDF</a></span>&#8203;(<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a>&nbsp;motor,
com.fasterxml.jackson.databind.JsonNode&nbsp;jsonPIDF)</code></th>
<td class="colLast">
<div class="block">Set the PIDF for the module if the given JSON has the paramters.</div>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h4>SwerveParser</h4>
<pre>public&nbsp;SwerveParser()</pre>
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<h4>openJson</h4>
<pre class="methodSignature">private static&nbsp;com.fasterxml.jackson.databind.JsonNode&nbsp;openJson&#8203;(java.io.File&nbsp;file)</pre>
<div class="block">Open JSON file.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>file</code> - JSON File to open.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>JsonNode of file.</dd>
</dl>
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<h4>checkDirectory</h4>
<pre class="methodSignature">private static&nbsp;void&nbsp;checkDirectory&#8203;(java.io.File&nbsp;directory)</pre>
<div class="block">Check directory structure.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>directory</code> - JSON Configuration Directory</dd>
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<a id="createMotor(com.fasterxml.jackson.databind.JsonNode)">
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<h4>createMotor</h4>
<pre class="methodSignature">private static&nbsp;edu.wpi.first.wpilibj.motorcontrol.MotorController&nbsp;createMotor&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;motorConfig)</pre>
<div class="block">Create the motor controller based off the config.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motorConfig</code> - JSON Motor config object.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Motor Controller</dd>
</dl>
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<h4>createEncoder</h4>
<pre class="methodSignature">private static&nbsp;java.lang.Object&nbsp;createEncoder&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;encoderConfig)</pre>
<div class="block">Create SwerveEncoder from JSON config.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>encoderConfig</code> - Swerve Encoder JSON config.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>SwerveEncoder</dd>
</dl>
</li>
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<a id="createGyro(com.fasterxml.jackson.databind.JsonNode)">
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<h4>createGyro</h4>
<pre class="methodSignature">private static&nbsp;com.ctre.phoenix.sensors.WPI_Pigeon2&nbsp;createGyro&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;gyroConfig)</pre>
<div class="block">Create the gyro object based off the configuration.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>gyroConfig</code> - Gyro configuration.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Gyro object.</dd>
</dl>
</li>
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<h4>checkModule</h4>
<pre class="methodSignature">private static&nbsp;void&nbsp;checkModule&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;moduleJson)</pre>
<div class="block">Check module JSON config for existing values.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moduleJson</code> - Module JSON object.</dd>
</dl>
</li>
</ul>
<a id="checkMain(com.fasterxml.jackson.databind.JsonNode)">
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<h4>checkMain</h4>
<pre class="methodSignature">private static&nbsp;void&nbsp;checkMain&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson)</pre>
<div class="block">Check the main json for correct attributes.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>mainJson</code> - Main JSON.</dd>
</dl>
</li>
</ul>
<a id="createModule(com.fasterxml.jackson.databind.JsonNode,java.io.File,frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation)">
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<h4>createModule</h4>
<pre class="methodSignature">private static&nbsp;<a href="SwerveModule.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveModule</a>&lt;?,&#8203;?,&#8203;?&gt;&nbsp;createModule&#8203;(com.fasterxml.jackson.databind.JsonNode&nbsp;mainJson,
java.io.File&nbsp;moduleFile,
<a href="SwerveModule.SwerveModuleLocation.html" title="enum in frc.robot.subsystems.swervedrive.swerve">SwerveModule.SwerveModuleLocation</a>&nbsp;moduleLocation)</pre>
<div class="block">Create SwerveModule from JSON configuration file.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>mainJson</code> - Main JSON to pull from.</dd>
<dd><code>moduleFile</code> - Module specific JSON data to pull from.</dd>
<dd><code>moduleLocation</code> - Swerve module location that is being created.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>SwerveModule</dd>
</dl>
</li>
</ul>
<a id="setModulePIDF(frc.robot.subsystems.swervedrive.swerve.SwerveMotor,com.fasterxml.jackson.databind.JsonNode)">
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</a>
<ul class="blockList">
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<h4>setModulePIDF</h4>
<pre class="methodSignature">private static&nbsp;void&nbsp;setModulePIDF&#8203;(<a href="SwerveMotor.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveMotor</a>&nbsp;motor,
com.fasterxml.jackson.databind.JsonNode&nbsp;jsonPIDF)</pre>
<div class="block">Set the PIDF for the module if the given JSON has the paramters.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>motor</code> - Motor to configure.</dd>
<dd><code>jsonPIDF</code> - JSON ndoe with values.</dd>
</dl>
</li>
</ul>
<a id="fromJSONDirectory(java.io.File)">
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</a>
<ul class="blockListLast">
<li class="blockList">
<h4>fromJSONDirectory</h4>
<pre class="methodSignature">public static&nbsp;<a href="SwerveDrive.html" title="class in frc.robot.subsystems.swervedrive.swerve">SwerveDrive</a>&nbsp;fromJSONDirectory&#8203;(java.io.File&nbsp;directory)</pre>
<div class="block">Create SwerveDrive from JSON configuration directory.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>directory</code> - JSON Configuration directory.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>SwerveDrive</dd>
</dl>
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