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589 lines
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589 lines
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.parser</a></div>
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<h2 title="Class SwerveModulePhysicalCharacteristics" class="title">Class SwerveModulePhysicalCharacteristics</h2>
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</div>
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<ul class="inheritance">
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<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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<ul class="inheritance">
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<li>frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics</li>
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<pre>public class <span class="typeNameLabel">SwerveModulePhysicalCharacteristics</span>
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extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
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<div class="block">Configuration class which stores physical characteristics shared between every swerve module.</div>
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<table class="memberSummary">
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>int</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleEncoderPulsePerRotation">angleEncoderPulsePerRotation</a></span></code></th>
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<td class="colLast">
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<div class="block">Angle motor encoder pulse per rotation.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleGearRatio">angleGearRatio</a></span></code></th>
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<td class="colLast">
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<div class="block">Angle gear ratio.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>int</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorCurrentLimit">angleMotorCurrentLimit</a></span></code></th>
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<td class="colLast">
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<div class="block">Current limits for the Swerve Module.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorFreeSpeedRPM">angleMotorFreeSpeedRPM</a></span></code></th>
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<td class="colLast">
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<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angleMotorRampRate">angleMotorRampRate</a></span></code></th>
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<td class="colLast">
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<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>int</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveEncoderPulsePerRotation">driveEncoderPulsePerRotation</a></span></code></th>
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<td class="colLast">
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<div class="block">Drive motor encoder pulse per rotation.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveGearRatio">driveGearRatio</a></span></code></th>
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<td class="colLast">
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<div class="block">Drive gear ratio.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>int</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotorCurrentLimit">driveMotorCurrentLimit</a></span></code></th>
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<td class="colLast">
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<div class="block">Current limits for the Swerve Module.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveMotorRampRate">driveMotorRampRate</a></span></code></th>
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<td class="colLast">
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<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimalVoltage">optimalVoltage</a></span></code></th>
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<td class="colLast">
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<div class="block">Optimal voltage of the robot.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelDiameter">wheelDiameter</a></span></code></th>
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<td class="colLast">
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<div class="block">Wheel diameter in meters.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wheelGripCoefficientOfFriction">wheelGripCoefficientOfFriction</a></span></code></th>
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<td class="colLast">
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<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
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</td>
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</tr>
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</table>
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</li>
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</ul>
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</section>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colLast" scope="col">Description</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int)">SwerveModulePhysicalCharacteristics</a></span>​(double driveGearRatio,
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double angleGearRatio,
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double angleMotorFreeSpeedRPM,
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double wheelDiameter,
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double driveMotorRampRate,
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double angleMotorRampRate,
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int driveEncoderPulsePerRotation,
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int angleEncoderPulsePerRotation)</code></th>
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<td class="colLast">
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<div class="block">Construct the swerve module physical characteristics.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double,double,double,int,int,double,double,int,int)">SwerveModulePhysicalCharacteristics</a></span>​(double driveGearRatio,
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double angleGearRatio,
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double angleMotorFreeSpeedRPM,
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double wheelDiameter,
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double wheelGripCoefficientOfFriction,
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double optimalVoltage,
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int driveMotorCurrentLimit,
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int angleMotorCurrentLimit,
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double driveMotorRampRate,
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double angleMotorRampRate,
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int driveEncoderPulsePerRotation,
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int angleEncoderPulsePerRotation)</code></th>
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<td class="colLast">
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<div class="block">Construct the swerve module physical characteristics.</div>
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</td>
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</tr>
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</table>
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</li>
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</ul>
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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</ul>
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</section>
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</li>
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</div>
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<div class="details">
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<!-- ============ FIELD DETAIL =========== -->
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</a>
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<h3>Field Detail</h3>
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<a id="wheelDiameter">
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<h4>wheelDiameter</h4>
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<pre>public final double wheelDiameter</pre>
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<div class="block">Wheel diameter in meters.</div>
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</li>
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<a id="driveGearRatio">
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<h4>driveGearRatio</h4>
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<pre>public final double driveGearRatio</pre>
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<div class="block">Drive gear ratio. How many times the motor has to spin before the wheel makes a complete rotation.</div>
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</li>
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<a id="angleGearRatio">
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<h4>angleGearRatio</h4>
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<pre>public final double angleGearRatio</pre>
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<div class="block">Angle gear ratio. How many times the motor has to spin before the wheel makes a full rotation.</div>
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</li>
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</ul>
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<a id="driveEncoderPulsePerRotation">
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<h4>driveEncoderPulsePerRotation</h4>
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<pre>public final int driveEncoderPulsePerRotation</pre>
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<div class="block">Drive motor encoder pulse per rotation. 1 if integrated encoder.</div>
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</li>
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</ul>
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<a id="angleEncoderPulsePerRotation">
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<h4>angleEncoderPulsePerRotation</h4>
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<pre>public final int angleEncoderPulsePerRotation</pre>
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<div class="block">Angle motor encoder pulse per rotation. 1 if integrated encoder.</div>
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</li>
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<a id="optimalVoltage">
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<h4>optimalVoltage</h4>
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<pre>public final double optimalVoltage</pre>
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<div class="block">Optimal voltage of the robot.</div>
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</li>
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<h4>driveMotorCurrentLimit</h4>
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<pre>public final int driveMotorCurrentLimit</pre>
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<div class="block">Current limits for the Swerve Module.</div>
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<h4>angleMotorCurrentLimit</h4>
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<pre>public final int angleMotorCurrentLimit</pre>
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<div class="block">Current limits for the Swerve Module.</div>
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<a id="driveMotorRampRate">
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<h4>driveMotorRampRate</h4>
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<pre>public final double driveMotorRampRate</pre>
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<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
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</li>
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</ul>
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<a id="angleMotorRampRate">
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<h4>angleMotorRampRate</h4>
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<pre>public final double angleMotorRampRate</pre>
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<div class="block">The time it takes for the motor to go from 0 to full throttle in seconds.</div>
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</li>
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</ul>
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<a id="wheelGripCoefficientOfFriction">
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<h4>wheelGripCoefficientOfFriction</h4>
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<pre>public final double wheelGripCoefficientOfFriction</pre>
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<div class="block">Wheel grip tape coefficient of friction on carpet, as described by the vendor.</div>
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</li>
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</ul>
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<a id="angleMotorFreeSpeedRPM">
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<h4>angleMotorFreeSpeedRPM</h4>
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<pre>public final double angleMotorFreeSpeedRPM</pre>
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<div class="block">Free speed rotations per minute of the motor, as described by the vendor.</div>
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</li>
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</ul>
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</li>
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</ul>
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</section>
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<h3>Constructor Detail</h3>
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<a id="<init>(double,double,double,double,double,double,int,int,double,double,int,int)">
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<h4>SwerveModulePhysicalCharacteristics</h4>
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<pre>public SwerveModulePhysicalCharacteristics​(double driveGearRatio,
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double angleGearRatio,
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double angleMotorFreeSpeedRPM,
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double wheelDiameter,
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double wheelGripCoefficientOfFriction,
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double optimalVoltage,
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int driveMotorCurrentLimit,
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int angleMotorCurrentLimit,
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double driveMotorRampRate,
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double angleMotorRampRate,
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int driveEncoderPulsePerRotation,
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int angleEncoderPulsePerRotation)</pre>
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<div class="block">Construct the swerve module physical characteristics.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the
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wheel.</dd>
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<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
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<dd><code>angleMotorFreeSpeedRPM</code> - Motor free speed rotation per minute.</dd>
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<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
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<dd><code>wheelGripCoefficientOfFriction</code> - Wheel grip coefficient of friction on carpet given by manufacturer.</dd>
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<dd><code>optimalVoltage</code> - Optimal robot voltage.</dd>
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<dd><code>driveMotorCurrentLimit</code> - Current limit for the drive motor.</dd>
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<dd><code>angleMotorCurrentLimit</code> - Current limit for the angle motor.</dd>
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<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents
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over drawing power from battery)</dd>
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<dd><code>angleMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents
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overdrawing power and power loss).</dd>
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<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
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<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
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</dl>
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<h4>SwerveModulePhysicalCharacteristics</h4>
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<pre>public SwerveModulePhysicalCharacteristics​(double driveGearRatio,
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double angleGearRatio,
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double angleMotorFreeSpeedRPM,
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double wheelDiameter,
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double driveMotorRampRate,
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double angleMotorRampRate,
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int driveEncoderPulsePerRotation,
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int angleEncoderPulsePerRotation)</pre>
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<div class="block">Construct the swerve module physical characteristics. Assume coefficient of friction is 1.19 (taken from blue
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nitrile on carpet from Studica) and optimal voltage is 12v. Assumes the drive motor current limit is 40A, and the
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angle motor current limit is 20A.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>driveGearRatio</code> - Gear ratio of the drive motor. Number of motor rotations to rotate the wheel.</dd>
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<dd><code>angleGearRatio</code> - Gear ratio of the angle motor. Number of motor rotations to spin the wheel.</dd>
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<dd><code>angleMotorFreeSpeedRPM</code> - Motor free speed rotation per minute.</dd>
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<dd><code>wheelDiameter</code> - Wheel diameter in meters.</dd>
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<dd><code>driveMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents over
|
|
drawing power from battery)</dd>
|
|
<dd><code>angleMotorRampRate</code> - The time in seconds to go from 0 to full throttle on the motor. (Prevents
|
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overdrawing power and power loss).</dd>
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<dd><code>driveEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
|
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<dd><code>angleEncoderPulsePerRotation</code> - The number of encoder pulses per motor rotation, 1 for integrated encoders.</dd>
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</dl>
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</li>
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</ul>
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</li>
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</ul>
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