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<title>SwerveDrive (YAGSL-Lib API)</title>
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<li>Summary: </li>
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<li>Nested | </li>
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<li><a href="#field-summary">Field</a> | </li>
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<li><a href="#constructor-summary">Constr</a> | </li>
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<li>Detail: </li>
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<!-- ======== START OF CLASS DATA ======== -->
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<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">swervelib</a></div>
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<h1 title="Class SwerveDrive" class="title">Class SwerveDrive</h1>
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</div>
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<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
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<div class="inheritance">swervelib.SwerveDrive</div>
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</div>
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<section class="class-description" id="class-description">
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<hr>
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<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveDrive</span>
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<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
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<div class="block">Swerve Drive class representing and controlling the swerve drive.</div>
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</section>
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<section class="summary">
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<ul class="summary-list">
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<!-- =========== FIELD SUMMARY =========== -->
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<li>
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<section class="field-summary" id="field-summary">
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<h2>Field Summary</h2>
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<div class="caption"><span>Fields</span></div>
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<div class="summary-table three-column-summary">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Field</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color"><code>boolean</code></div>
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<div class="col-second even-row-color"><code><a href="#chassisVelocityCorrection" class="member-name-link">chassisVelocityCorrection</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Correct chassis velocity in <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(Translation2d, double, boolean, boolean)</code></a>
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using 254's correction.</div>
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</div>
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<div class="col-first odd-row-color"><code>edu.wpi.first.wpilibj.smartdashboard.Field2d</code></div>
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<div class="col-second odd-row-color"><code><a href="#field" class="member-name-link">field</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Field object.</div>
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</div>
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<div class="col-first even-row-color"><code>boolean</code></div>
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<div class="col-second even-row-color"><code><a href="#invertOdometry" class="member-name-link">invertOdometry</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Invert odometry readings of drive motor positions, used as a patch for debugging currently.</div>
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</div>
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<div class="col-first odd-row-color"><code>final <a href="math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#kinematics" class="member-name-link">kinematics</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
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</div>
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<div class="col-first even-row-color"><code>edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1></code></div>
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<div class="col-second even-row-color"><code><a href="#stateStdDevs" class="member-name-link">stateStdDevs</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Trustworthiness of the internal model of how motors should be moving Measured in expected
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standard deviation (meters of position and degrees of rotation)</div>
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</div>
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<div class="col-first odd-row-color"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveController" class="member-name-link">swerveController</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve controller for controlling heading of the robot.</div>
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</div>
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<div class="col-first even-row-color"><code>final <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></code></div>
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<div class="col-second even-row-color"><code><a href="#swerveDriveConfiguration" class="member-name-link">swerveDriveConfiguration</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Swerve drive configuration.</div>
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</div>
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<div class="col-first odd-row-color"><code>final <a href="math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Swerve odometry.</div>
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</div>
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<div class="col-first even-row-color"><code>edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1></code></div>
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<div class="col-second even-row-color"><code><a href="#visionMeasurementStdDevs" class="member-name-link">visionMeasurementStdDevs</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Trustworthiness of the vision system Measured in expected standard deviation (meters of
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position and degrees of rotation)</div>
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</div>
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</div>
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</section>
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</li>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<li>
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<section class="constructor-summary" id="constructor-summary">
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<h2>Constructor Summary</h2>
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<div class="caption"><span>Constructors</span></div>
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<div class="summary-table two-column-summary">
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<div class="table-header col-first">Constructor</div>
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<div class="table-header col-last">Description</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration)" class="member-name-link">SwerveDrive</a><wbr>(<a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config,
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<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a> controllerConfig)</code></div>
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<div class="col-last even-row-color">
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<div class="block">Creates a new swerve drivebase subsystem.</div>
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</div>
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</div>
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</section>
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</li>
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<!-- ========== METHOD SUMMARY =========== -->
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<li>
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<section class="method-summary" id="method-summary">
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<h2>Method Summary</h2>
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<div id="method-summary-table">
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div id="method-summary-table.tabpanel" role="tabpanel">
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Method</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,double)" class="member-name-link">addVisionMeasurement</a><wbr>(edu.wpi.first.math.geometry.Pose2d robotPose,
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double timestamp,
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boolean soft,
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double trustWorthiness)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with the given timestamp of the vision measurement.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,edu.wpi.first.math.Matrix)" class="member-name-link">addVisionMeasurement</a><wbr>(edu.wpi.first.math.geometry.Pose2d robotPose,
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double timestamp,
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boolean soft,
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edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with the given timestamp of the vision measurement.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#disableSecondOrderKinematics()" class="member-name-link">disableSecondOrderKinematics</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Disable second order kinematics.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d translation,
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double rotation,
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boolean fieldRelative,
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boolean isOpenLoop)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">The primary method for controlling the drivebase.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,boolean)" class="member-name-link">drive</a><wbr>(edu.wpi.first.math.geometry.Translation2d translation,
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double rotation,
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boolean fieldRelative,
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boolean isOpenLoop,
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boolean headingCorrection)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">The primary method for controlling the drivebase.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#enableSecondOrderKinematics()" class="member-name-link">enableSecondOrderKinematics</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Enable second order kinematics for tracking purposes but completely untuned.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#enableSecondOrderKinematics(double)" class="member-name-link">enableSecondOrderKinematics</a><wbr>(double moduleFeedforward)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Enable second order kinematics for simulation and modifying the feedforward.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#enableSecondOrderKinematics(int)" class="member-name-link">enableSecondOrderKinematics</a><wbr>(int motorFreeSpeedRPM)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Enable second order kinematics with calculated values for the feedforward and return the value
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used.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a><edu.wpi.first.math.geometry.Translation3d></code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Gets current acceleration of the robot in m/s/s.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getFieldVelocity()" class="member-name-link">getFieldVelocity</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getGyroRotation3d()" class="member-name-link">getGyroRotation3d</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModulePositions()" class="member-name-link">getModulePositions</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Gets the current module positions (azimuth and wheel position (meters)).</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getModules()" class="member-name-link">getModules</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Get the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>s associated with the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a>.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPitch()" class="member-name-link">getPitch</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Gets the current pitch angle of the robot, as reported by the imu.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPose()" class="member-name-link">getPose</a>()</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRobotVelocity()" class="member-name-link">getRobotVelocity</a>()</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRoll()" class="member-name-link">getRoll</a>()</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getStates()" class="member-name-link">getStates</a>()</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Gets the current module states (azimuth and velocity)</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveController.html" title="class in swervelib">SwerveController</a></code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveController()" class="member-name-link">getSwerveController</a>()</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Helper function to get the <a href="#swerveController"><code>swerveController</code></a> for the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a>
|
|
which can be used to generate <code>ChassisSpeeds</code> for the robot to orient it correctly given
|
|
axis or angles, and apply <code>SlewRateLimiter</code> to given inputs.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d[]</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">getSwerveModulePoses</a><wbr>(edu.wpi.first.math.geometry.Pose2d robotPose)</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getYaw()" class="member-name-link">getYaw</a>()</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Gets the current yaw angle of the robot, as reported by the imu.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#lockPose()" class="member-name-link">lockPose</a>()</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#postTrajectory(edu.wpi.first.math.trajectory.Trajectory)" class="member-name-link">postTrajectory</a><wbr>(edu.wpi.first.math.trajectory.Trajectory trajectory)</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Post the trajectory to the field</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)" class="member-name-link">replaceSwerveModuleFeedforward</a><wbr>(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Setup the swerve module feedforward.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetEncoders()" class="member-name-link">resetEncoders</a>()</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Reset the drive encoders on the robot, useful when manually resetting the robot without a
|
|
reboot, like in autonomous.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetOdometry(edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetOdometry</a><wbr>(edu.wpi.first.math.geometry.Pose2d pose)</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Resets odometry to the given pose.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">setChassisSpeeds</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Set chassis speeds with closed-loop velocity control and second order kinematics.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyro(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyro</a><wbr>(edu.wpi.first.math.geometry.Rotation3d gyro)</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Set the expected gyroscope angle using a <code>Rotation3d</code> object.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setGyroOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d offset)</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Set the gyro scope offset to a desired known rotation.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double)" class="member-name-link">setMaximumSpeed</a><wbr>(double maximumSpeed)</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and <a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is
|
|
used for the <code>setRawModuleStates(SwerveModuleState2[], boolean)</code> function and
|
|
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeed(double,boolean)" class="member-name-link">setMaximumSpeed</a><wbr>(double maximumSpeed,
|
|
boolean updateModuleFeedforward)</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and <a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is
|
|
used for the <code>setRawModuleStates(SwerveModuleState2[], boolean)</code> function and
|
|
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMaximumSpeeds(double,double,double)" class="member-name-link">setMaximumSpeeds</a><wbr>(double attainableMaxModuleSpeedMetersPerSecond,
|
|
double attainableMaxTranslationalSpeedMetersPerSecond,
|
|
double attainableMaxRotationalVelocityRadiansPerSecond)</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Set the maximum speeds for desaturation.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStateOptimization(boolean)" class="member-name-link">setModuleStateOptimization</a><wbr>(boolean optimizationEnabled)</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Configure whether the <a href="math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> will be optimized to prevent spinning more
|
|
than 90deg.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setModuleStates(swervelib.math.SwerveModuleState2%5B%5D,boolean)" class="member-name-link">setModuleStates</a><wbr>(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] desiredStates,
|
|
boolean isOpenLoop)</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Set the module states (azimuth and velocity) directly.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setMotorIdleMode(boolean)" class="member-name-link">setMotorIdleMode</a><wbr>(boolean brake)</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Sets the drive motors to brake/coast mode.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#synchronizeModuleEncoders()" class="member-name-link">synchronizeModuleEncoders</a>()</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Synchronize angle motor integrated encoders with data from absolute encoders.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updateOdometry()" class="member-name-link">updateOdometry</a>()</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Update odometry should be run every loop.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#zeroGyro()" class="member-name-link">zeroGyro</a>()</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
|
<div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div class="inherited-list">
|
|
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
|
|
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section class="details">
|
|
<ul class="details-list">
|
|
<!-- ============ FIELD DETAIL =========== -->
|
|
<li>
|
|
<section class="field-details" id="field-detail">
|
|
<h2>Field Details</h2>
|
|
<ul class="member-list">
|
|
<li>
|
|
<section class="detail" id="kinematics">
|
|
<h3>kinematics</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type"><a href="math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></span> <span class="element-name">kinematics</span></div>
|
|
<div class="block">Swerve Kinematics object utilizing second order kinematics.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="swerveDriveConfiguration">
|
|
<h3>swerveDriveConfiguration</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type"><a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a></span> <span class="element-name">swerveDriveConfiguration</span></div>
|
|
<div class="block">Swerve drive configuration.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="swerveDrivePoseEstimator">
|
|
<h3>swerveDrivePoseEstimator</h3>
|
|
<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type"><a href="math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></span> <span class="element-name">swerveDrivePoseEstimator</span></div>
|
|
<div class="block">Swerve odometry.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="field">
|
|
<h3>field</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.wpilibj.smartdashboard.Field2d</span> <span class="element-name">field</span></div>
|
|
<div class="block">Field object.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="swerveController">
|
|
<h3>swerveController</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="SwerveController.html" title="class in swervelib">SwerveController</a></span> <span class="element-name">swerveController</span></div>
|
|
<div class="block">Swerve controller for controlling heading of the robot.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="stateStdDevs">
|
|
<h3>stateStdDevs</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1></span> <span class="element-name">stateStdDevs</span></div>
|
|
<div class="block">Trustworthiness of the internal model of how motors should be moving Measured in expected
|
|
standard deviation (meters of position and degrees of rotation)</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="visionMeasurementStdDevs">
|
|
<h3>visionMeasurementStdDevs</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1></span> <span class="element-name">visionMeasurementStdDevs</span></div>
|
|
<div class="block">Trustworthiness of the vision system Measured in expected standard deviation (meters of
|
|
position and degrees of rotation)</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="invertOdometry">
|
|
<h3>invertOdometry</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">invertOdometry</span></div>
|
|
<div class="block">Invert odometry readings of drive motor positions, used as a patch for debugging currently.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="chassisVelocityCorrection">
|
|
<h3>chassisVelocityCorrection</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">chassisVelocityCorrection</span></div>
|
|
<div class="block">Correct chassis velocity in <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(Translation2d, double, boolean, boolean)</code></a>
|
|
using 254's correction.</div>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
</li>
|
|
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
|
<li>
|
|
<section class="constructor-details" id="constructor-detail">
|
|
<h2>Constructor Details</h2>
|
|
<ul class="member-list">
|
|
<li>
|
|
<section class="detail" id="<init>(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.SwerveControllerConfiguration)">
|
|
<h3>SwerveDrive</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveDrive</span><wbr><span class="parameters">(<a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> config,
|
|
<a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser">SwerveControllerConfiguration</a> controllerConfig)</span></div>
|
|
<div class="block">Creates a new swerve drivebase subsystem. Robot is controlled via the <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a>
|
|
method, or via the <code>setRawModuleStates(swervelib.math.SwerveModuleState2[], boolean)</code> method. The <a href="#drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)"><code>drive(edu.wpi.first.math.geometry.Translation2d, double, boolean, boolean)</code></a>
|
|
method incorporates kinematics-- it takes a translation and rotation, as well as parameters for
|
|
field-centric and closed-loop velocity control. <code>setRawModuleStates(swervelib.math.SwerveModuleState2[], boolean)</code> takes a
|
|
list of SwerveModuleStates and directly passes them to the modules. This subsystem also handles
|
|
odometry.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>config</code> - The <a href="parser/SwerveDriveConfiguration.html" title="class in swervelib.parser"><code>SwerveDriveConfiguration</code></a> configuration to base the swerve drive off
|
|
of.</dd>
|
|
<dd><code>controllerConfig</code> - The <a href="parser/SwerveControllerConfiguration.html" title="class in swervelib.parser"><code>SwerveControllerConfiguration</code></a> to use when creating the
|
|
<a href="SwerveController.html" title="class in swervelib"><code>SwerveController</code></a>.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
</li>
|
|
<!-- ============ METHOD DETAIL ========== -->
|
|
<li>
|
|
<section class="method-details" id="method-detail">
|
|
<h2>Method Details</h2>
|
|
<ul class="member-list">
|
|
<li>
|
|
<section class="detail" id="drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean)">
|
|
<h3>drive</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">drive</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d translation,
|
|
double rotation,
|
|
boolean fieldRelative,
|
|
boolean isOpenLoop)</span></div>
|
|
<div class="block">The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate,
|
|
and calculates and commands module states accordingly. Can use either open-loop or closed-loop
|
|
velocity control for the wheel velocities. Also has field- and robot-relative modes, which
|
|
affect how the translation vector is used. This method defaults to no heading correction.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>translation</code> - <code>Translation2d</code> that is the commanded linear velocity of the robot, in
|
|
meters per second. In robot-relative mode, positive x is torwards the bow (front) and
|
|
positive y is torwards port (left). In field-relative mode, positive x is away from the
|
|
alliance wall (field North) and positive y is torwards the left wall when looking through
|
|
the driver station glass (field West).</dd>
|
|
<dd><code>rotation</code> - Robot angular rate, in radians per second. CCW positive. Unaffected by
|
|
field/robot relativity.</dd>
|
|
<dd><code>fieldRelative</code> - Drive mode. True for field-relative, false for robot-relative.</dd>
|
|
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable
|
|
closed-loop.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="drive(edu.wpi.first.math.geometry.Translation2d,double,boolean,boolean,boolean)">
|
|
<h3>drive</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">drive</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d translation,
|
|
double rotation,
|
|
boolean fieldRelative,
|
|
boolean isOpenLoop,
|
|
boolean headingCorrection)</span></div>
|
|
<div class="block">The primary method for controlling the drivebase. Takes a Translation2d and a rotation rate,
|
|
and calculates and commands module states accordingly. Can use either open-loop or closed-loop
|
|
velocity control for the wheel velocities. Also has field- and robot-relative modes, which
|
|
affect how the translation vector is used.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>translation</code> - <code>Translation2d</code> that is the commanded linear velocity of the robot, in
|
|
meters per second. In robot-relative mode, positive x is torwards the bow (front) and
|
|
positive y is torwards port (left). In field-relative mode, positive x is away from the
|
|
alliance wall (field North) and positive y is torwards the left wall when looking through
|
|
the driver station glass (field West).</dd>
|
|
<dd><code>rotation</code> - Robot angular rate, in radians per second. CCW positive. Unaffected by
|
|
field/robot relativity.</dd>
|
|
<dd><code>fieldRelative</code> - Drive mode. True for field-relative, false for robot-relative.</dd>
|
|
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable
|
|
closed-loop.</dd>
|
|
<dd><code>headingCorrection</code> - Whether to correct heading when driving translationally. Set to true
|
|
to enable.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setMaximumSpeeds(double,double,double)">
|
|
<h3>setMaximumSpeeds</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setMaximumSpeeds</span><wbr><span class="parameters">(double attainableMaxModuleSpeedMetersPerSecond,
|
|
double attainableMaxTranslationalSpeedMetersPerSecond,
|
|
double attainableMaxRotationalVelocityRadiansPerSecond)</span></div>
|
|
<div class="block">Set the maximum speeds for desaturation.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach
|
|
in meters per second.</dd>
|
|
<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot
|
|
can reach while translating in meters per second.</dd>
|
|
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can
|
|
reach while rotating in radians per second.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setModuleStates(swervelib.math.SwerveModuleState2[],boolean)">
|
|
<h3>setModuleStates</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setModuleStates</span><wbr><span class="parameters">(<a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] desiredStates,
|
|
boolean isOpenLoop)</span></div>
|
|
<div class="block">Set the module states (azimuth and velocity) directly. Used primarily for auto paths.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>desiredStates</code> - A list of SwerveModuleStates to send to the modules.</dd>
|
|
<dd><code>isOpenLoop</code> - Whether to use closed-loop velocity control. Set to true to disable
|
|
closed-loop.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setChassisSpeeds(edu.wpi.first.math.kinematics.ChassisSpeeds)">
|
|
<h3>setChassisSpeeds</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setChassisSpeeds</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</span></div>
|
|
<div class="block">Set chassis speeds with closed-loop velocity control and second order kinematics.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>chassisSpeeds</code> - Chassis speeds to set.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getPose()">
|
|
<h3>getPose</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Pose2d</span> <span class="element-name">getPose</span>()</div>
|
|
<div class="block">Gets the current pose (position and rotation) of the robot, as reported by odometry.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>The robot's pose</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getFieldVelocity()">
|
|
<h3>getFieldVelocity</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span> <span class="element-name">getFieldVelocity</span>()</div>
|
|
<div class="block">Gets the current field-relative velocity (x, y and omega) of the robot</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>A ChassisSpeeds object of the current field-relative velocity</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getRobotVelocity()">
|
|
<h3>getRobotVelocity</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span> <span class="element-name">getRobotVelocity</span>()</div>
|
|
<div class="block">Gets the current robot-relative velocity (x, y and omega) of the robot</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>A ChassisSpeeds object of the current robot-relative velocity</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="resetOdometry(edu.wpi.first.math.geometry.Pose2d)">
|
|
<h3>resetOdometry</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">resetOdometry</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d pose)</span></div>
|
|
<div class="block">Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when
|
|
calling this method. However, if either gyro angle or module position is reset, this must be
|
|
called in order for odometry to keep working.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>pose</code> - The pose to set the odometry to</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="postTrajectory(edu.wpi.first.math.trajectory.Trajectory)">
|
|
<h3>postTrajectory</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">postTrajectory</span><wbr><span class="parameters">(edu.wpi.first.math.trajectory.Trajectory trajectory)</span></div>
|
|
<div class="block">Post the trajectory to the field</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>trajectory</code> - the trajectory to post.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getStates()">
|
|
<h3>getStates</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="math/SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span> <span class="element-name">getStates</span>()</div>
|
|
<div class="block">Gets the current module states (azimuth and velocity)</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>A list of SwerveModuleStates containing the current module states</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getModulePositions()">
|
|
<h3>getModulePositions</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.kinematics.SwerveModulePosition[]</span> <span class="element-name">getModulePositions</span>()</div>
|
|
<div class="block">Gets the current module positions (azimuth and wheel position (meters)). Inverts the distance
|
|
from each module if <a href="#invertOdometry"><code>invertOdometry</code></a> is true.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>A list of SwerveModulePositions containg the current module positions</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="zeroGyro()">
|
|
<h3>zeroGyro</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">zeroGyro</span>()</div>
|
|
<div class="block">Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getYaw()">
|
|
<h3>getYaw</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span> <span class="element-name">getYaw</span>()</div>
|
|
<div class="block">Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>The yaw as a <code>Rotation2d</code> angle</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getPitch()">
|
|
<h3>getPitch</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span> <span class="element-name">getPitch</span>()</div>
|
|
<div class="block">Gets the current pitch angle of the robot, as reported by the imu.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>The heading as a <code>Rotation2d</code> angle</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getRoll()">
|
|
<h3>getRoll</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span> <span class="element-name">getRoll</span>()</div>
|
|
<div class="block">Gets the current roll angle of the robot, as reported by the imu.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>The heading as a <code>Rotation2d</code> angle</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getGyroRotation3d()">
|
|
<h3>getGyroRotation3d</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span> <span class="element-name">getGyroRotation3d</span>()</div>
|
|
<div class="block">Gets the current gyro <code>Rotation3d</code> of the robot, as reported by the imu.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>The heading as a <code>Rotation3d</code> angle</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getAccel()">
|
|
<h3>getAccel</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a><edu.wpi.first.math.geometry.Translation3d></span> <span class="element-name">getAccel</span>()</div>
|
|
<div class="block">Gets current acceleration of the robot in m/s/s. If gyro unsupported returns empty.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>acceleration of the robot as a <code>Translation3d</code></dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setMotorIdleMode(boolean)">
|
|
<h3>setMotorIdleMode</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setMotorIdleMode</span><wbr><span class="parameters">(boolean brake)</span></div>
|
|
<div class="block">Sets the drive motors to brake/coast mode.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>brake</code> - True to set motors to brake mode, false for coast.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setMaximumSpeed(double,boolean)">
|
|
<h3>setMaximumSpeed</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setMaximumSpeed</span><wbr><span class="parameters">(double maximumSpeed,
|
|
boolean updateModuleFeedforward)</span></div>
|
|
<div class="block">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and <a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is
|
|
used for the <code>setRawModuleStates(SwerveModuleState2[], boolean)</code> function and
|
|
<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.
|
|
This function overrides what was placed in the JSON and could damage your motor/robot if set
|
|
too high or unachievable rates.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>maximumSpeed</code> - Maximum speed for the drive motors in meters / second.</dd>
|
|
<dd><code>updateModuleFeedforward</code> - Update the swerve module feedforward to account for the new
|
|
maximum speed. This should be true unless you have replaced the drive motor feedforward
|
|
with <a href="#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)"><code>replaceSwerveModuleFeedforward(SimpleMotorFeedforward)</code></a></dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setMaximumSpeed(double)">
|
|
<h3>setMaximumSpeed</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setMaximumSpeed</span><wbr><span class="parameters">(double maximumSpeed)</span></div>
|
|
<div class="block">Set the maximum speed of the drive motors, modified <a href="parser/SwerveControllerConfiguration.html#maxSpeed"><code>SwerveControllerConfiguration.maxSpeed</code></a> and <a href="parser/SwerveDriveConfiguration.html#maxSpeed"><code>SwerveDriveConfiguration.maxSpeed</code></a> which is
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used for the <code>setRawModuleStates(SwerveModuleState2[], boolean)</code> function and
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<a href="SwerveController.html#getTargetSpeeds(double,double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double, double)</code></a> functions.
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This function overrides what was placed in the JSON and could damage your motor/robot if set
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too high or unachievable rates. Overwrites the <a href="SwerveModule.html#feedforward"><code>SwerveModule.feedforward</code></a>.</div>
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<dl class="notes">
|
|
<dt>Parameters:</dt>
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<dd><code>maximumSpeed</code> - Maximum speed for the drive motors in meters / second.</dd>
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</dl>
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</section>
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</li>
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<li>
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|
<section class="detail" id="lockPose()">
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<h3>lockPose</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">lockPose</span>()</div>
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<div class="block">Point all modules toward the robot center, thus making the robot very difficult to move.
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Forcing the robot to keep the current pose.</div>
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</section>
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</li>
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|
<li>
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<section class="detail" id="getSwerveModulePoses(edu.wpi.first.math.geometry.Pose2d)">
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|
<h3>getSwerveModulePoses</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Pose2d[]</span> <span class="element-name">getSwerveModulePoses</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d robotPose)</span></div>
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<div class="block">Get the swerve module poses and on the field relative to the robot.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>robotPose</code> - Robot pose.</dd>
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<dt>Returns:</dt>
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<dd>Swerve module poses.</dd>
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</dl>
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</section>
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|
</li>
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|
<li>
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|
<section class="detail" id="replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)">
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|
<h3>replaceSwerveModuleFeedforward</h3>
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|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">replaceSwerveModuleFeedforward</span><wbr><span class="parameters">(edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward)</span></div>
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<div class="block">Setup the swerve module feedforward.</div>
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<dl class="notes">
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|
<dt>Parameters:</dt>
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<dd><code>feedforward</code> - Feedforward for the drive motor on swerve modules.</dd>
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</dl>
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|
</section>
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|
</li>
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|
<li>
|
|
<section class="detail" id="updateOdometry()">
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|
<h3>updateOdometry</h3>
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|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">updateOdometry</span>()</div>
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|
<div class="block">Update odometry should be run every loop. Synchronizes module absolute encoders with relative
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|
encoders periodically. In simulation mode will also post the pose of each module. Updates
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|
SmartDashboard with module encoder readings and states.</div>
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|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="synchronizeModuleEncoders()">
|
|
<h3>synchronizeModuleEncoders</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">synchronizeModuleEncoders</span>()</div>
|
|
<div class="block">Synchronize angle motor integrated encoders with data from absolute encoders.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)">
|
|
<h3>setGyroOffset</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setGyroOffset</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d offset)</span></div>
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|
<div class="block">Set the gyro scope offset to a desired known rotation. Unlike <a href="#setGyro(edu.wpi.first.math.geometry.Rotation3d)"><code>setGyro(Rotation3d)</code></a> it DOES NOT take the current rotation into account.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>offset</code> - <code>Rotation3d</code> known offset of the robot for gyroscope to use.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,double)">
|
|
<h3>addVisionMeasurement</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d robotPose,
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|
double timestamp,
|
|
boolean soft,
|
|
double trustWorthiness)</span></div>
|
|
<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with the given timestamp of the vision measurement. <br>
|
|
<b>IT IS HIGHLY RECOMMENDED TO UPDATE YOUR GYROSCOPE OFFSET AFTER USING THIS FUNCTION!</b> <br>
|
|
To update your gyroscope readings directly use <a href="#setGyroOffset(edu.wpi.first.math.geometry.Rotation3d)"><code>setGyroOffset(Rotation3d)</code></a>.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>robotPose</code> - Robot <code>Pose2d</code> as measured by vision.</dd>
|
|
<dd><code>timestamp</code> - Timestamp the measurement was taken as time since startup, should be taken
|
|
from <code>Timer.getFPGATimestamp()</code> or similar sources.</dd>
|
|
<dd><code>soft</code> - Add vision estimate using the <code>PoseEstimator.addVisionMeasurement(Pose2d, double)</code> function, or hard reset
|
|
odometry with the given position with <code>SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d)</code>.</dd>
|
|
<dd><code>trustWorthiness</code> - Trust level of vision reading when using a soft measurement, used to
|
|
multiply the standard deviation. Set to 1 for full trust. Higher = Less Weight.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,boolean,edu.wpi.first.math.Matrix)">
|
|
<h3>addVisionMeasurement</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d robotPose,
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|
double timestamp,
|
|
boolean soft,
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|
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</span></div>
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|
<div class="block">Add a vision measurement to the <code>SwerveDrivePoseEstimator</code> and update the <a href="imu/SwerveIMU.html" title="class in swervelib.imu"><code>SwerveIMU</code></a> gyro reading with the given timestamp of the vision measurement.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>robotPose</code> - Robot <code>Pose2d</code> as measured by vision.</dd>
|
|
<dd><code>timestamp</code> - Timestamp the measurement was taken as time since startup, should be taken
|
|
from <code>Timer.getFPGATimestamp()</code> or similar sources.</dd>
|
|
<dd><code>soft</code> - Add vision estimate using the <code>PoseEstimator.addVisionMeasurement(Pose2d, double)</code> function, or hard reset
|
|
odometry with the given position with <code>SwerveDriveOdometry.resetPosition(Rotation2d, SwerveModulePosition[], Pose2d)</code>.</dd>
|
|
<dd><code>visionMeasurementStdDevs</code> - Vision measurement standard deviation that will be sent to the
|
|
<code>SwerveDrivePoseEstimator</code>.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setGyro(edu.wpi.first.math.geometry.Rotation3d)">
|
|
<h3>setGyro</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setGyro</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d gyro)</span></div>
|
|
<div class="block">Set the expected gyroscope angle using a <code>Rotation3d</code> object. To reset gyro, set to a new
|
|
<code>Rotation3d</code> subtracted from the current gyroscopic readings <a href="imu/SwerveIMU.html#getRotation3d()"><code>SwerveIMU.getRotation3d()</code></a>.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>gyro</code> - expected gyroscope angle as <code>Rotation3d</code>.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getSwerveController()">
|
|
<h3>getSwerveController</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="SwerveController.html" title="class in swervelib">SwerveController</a></span> <span class="element-name">getSwerveController</span>()</div>
|
|
<div class="block">Helper function to get the <a href="#swerveController"><code>swerveController</code></a> for the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a>
|
|
which can be used to generate <code>ChassisSpeeds</code> for the robot to orient it correctly given
|
|
axis or angles, and apply <code>SlewRateLimiter</code> to given inputs.
|
|
Important functions to look at are <a href="SwerveController.html#getTargetSpeeds(double,double,double,double)"><code>SwerveController.getTargetSpeeds(double, double, double, double)</code></a>, <a href="SwerveController.html#addSlewRateLimiters(edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter,edu.wpi.first.math.filter.SlewRateLimiter)"><code>SwerveController.addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter)</code></a>, <a href="SwerveController.html#getRawTargetSpeeds(double,double,double)"><code>SwerveController.getRawTargetSpeeds(double, double, double)</code></a>.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd><a href="SwerveController.html" title="class in swervelib"><code>SwerveController</code></a> for the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a>.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getModules()">
|
|
<h3>getModules</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="SwerveModule.html" title="class in swervelib">SwerveModule</a>[]</span> <span class="element-name">getModules</span>()</div>
|
|
<div class="block">Get the <a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a>s associated with the <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a>.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd><a href="SwerveModule.html" title="class in swervelib"><code>SwerveModule</code></a> array specified by configurations.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="resetEncoders()">
|
|
<h3>resetEncoders</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">resetEncoders</span>()</div>
|
|
<div class="block">Reset the drive encoders on the robot, useful when manually resetting the robot without a
|
|
reboot, like in autonomous.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setModuleStateOptimization(boolean)">
|
|
<h3>setModuleStateOptimization</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setModuleStateOptimization</span><wbr><span class="parameters">(boolean optimizationEnabled)</span></div>
|
|
<div class="block">Configure whether the <a href="math/SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> will be optimized to prevent spinning more
|
|
than 90deg.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>optimizationEnabled</code> - Whether the module optimization is enabled.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="enableSecondOrderKinematics(double)">
|
|
<h3>enableSecondOrderKinematics</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">enableSecondOrderKinematics</span><wbr><span class="parameters">(double moduleFeedforward)</span></div>
|
|
<div class="block">Enable second order kinematics for simulation and modifying the feedforward. Second order
|
|
kinematics could increase accuracy in odometry.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>moduleFeedforward</code> - Module feedforward to apply should be between [-1, 1] excluding 0.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="enableSecondOrderKinematics(int)">
|
|
<h3>enableSecondOrderKinematics</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">enableSecondOrderKinematics</span><wbr><span class="parameters">(int motorFreeSpeedRPM)</span></div>
|
|
<div class="block">Enable second order kinematics with calculated values for the feedforward and return the value
|
|
used.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>motorFreeSpeedRPM</code> - Steering motor free speed RPM.</dd>
|
|
<dt>Returns:</dt>
|
|
<dd>The feedforward value used for the last swerve module.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="enableSecondOrderKinematics()">
|
|
<h3>enableSecondOrderKinematics</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">enableSecondOrderKinematics</span>()</div>
|
|
<div class="block">Enable second order kinematics for tracking purposes but completely untuned.</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="disableSecondOrderKinematics()">
|
|
<h3>disableSecondOrderKinematics</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">disableSecondOrderKinematics</span>()</div>
|
|
<div class="block">Disable second order kinematics.</div>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<!-- ========= END OF CLASS DATA ========= -->
|
|
</main>
|
|
</div>
|
|
</div>
|
|
</body>
|
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</html>
|