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YAGSL/docs/swervelib/parser/SwerveControllerConfiguration.html
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.parser</a></div>
<h1 title="Class SwerveControllerConfiguration" class="title">Class SwerveControllerConfiguration</h1>
</div>
<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>
<div class="inheritance">swervelib.parser.SwerveControllerConfiguration</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveControllerConfiguration</span>
<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>
<div class="block">Swerve Controller configuration class which is used to configure <a href="../SwerveController.html" title="class in swervelib"><code>SwerveController</code></a>.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>final double</code></div>
<div class="col-second even-row-color"><code><a href="#angleJoyStickRadiusDeadband" class="member-name-link">angleJoyStickRadiusDeadband</a></code></div>
<div class="col-last even-row-color">
<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
</div>
<div class="col-first odd-row-color"><code>final <a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></div>
<div class="col-second odd-row-color"><code><a href="#headingPIDF" class="member-name-link">headingPIDF</a></code></div>
<div class="col-last odd-row-color">
<div class="block">PIDF for the heading of the robot.</div>
</div>
<div class="col-first even-row-color"><code>double</code></div>
<div class="col-second even-row-color"><code><a href="#maxAngularVelocity" class="member-name-link">maxAngularVelocity</a></code></div>
<div class="col-last even-row-color">
<div class="block">Maximum angular velocity in rad/s</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)" class="member-name-link">SwerveControllerConfiguration</a><wbr>(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;maxSpeedMPS)</code></div>
<div class="col-last even-row-color">
<div class="block">Construct the swerve controller configuration.</div>
</div>
<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double,double)" class="member-name-link">SwerveControllerConfiguration</a><wbr>(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;angleJoyStickRadiusDeadband,
double&nbsp;maxSpeedMPS)</code></div>
<div class="col-last odd-row-color">
<div class="block">Construct the swerve controller configuration.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
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<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;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 =========== -->
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<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="headingPIDF">
<h3>headingPIDF</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type"><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></span>&nbsp;<span class="element-name">headingPIDF</span></div>
<div class="block">PIDF for the heading of the robot.</div>
</section>
</li>
<li>
<section class="detail" id="angleJoyStickRadiusDeadband">
<h3>angleJoyStickRadiusDeadband</h3>
<div class="member-signature"><span class="modifiers">public final</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">angleJoyStickRadiusDeadband</span></div>
<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
</section>
</li>
<li>
<section class="detail" id="maxAngularVelocity">
<h3>maxAngularVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">maxAngularVelocity</span></div>
<div class="block">Maximum angular velocity in rad/s</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="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double,double)">
<h3>SwerveControllerConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveControllerConfiguration</span><wbr><span class="parameters">(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;angleJoyStickRadiusDeadband,
double&nbsp;maxSpeedMPS)</span></div>
<div class="block">Construct the swerve controller configuration. Assumes robot is square to fetch maximum angular velocity.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveCfg</code> - <a href="SwerveDriveConfiguration.html" title="class in swervelib.parser"><code>SwerveDriveConfiguration</code></a> to fetch the first module X and Y used to
calculate the maximum angular velocity.</dd>
<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
<dd><code>angleJoyStickRadiusDeadband</code> - Deadband on radius of angle joystick.</dd>
<dd><code>maxSpeedMPS</code> - Maximum speed in meters per second for angular velocity, remember if you have
feet per second use <code>Units.feetToMeters(double)</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="&lt;init&gt;(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)">
<h3>SwerveControllerConfiguration</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveControllerConfiguration</span><wbr><span class="parameters">(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a>&nbsp;driveCfg,
<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a>&nbsp;headingPIDF,
double&nbsp;maxSpeedMPS)</span></div>
<div class="block">Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be
set on angle joystick is .5 of the controller).</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>driveCfg</code> - Drive configuration.</dd>
<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
<dd><code>maxSpeedMPS</code> - Maximum speed in meters per second for angular velocity, remember if you have feet per second
use <code>Units.feetToMeters(double)</code>.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
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</section>
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