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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.parser</a></div>
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<h1 title="Class SwerveModulePhysicalCharacteristics" class="title">Class SwerveModulePhysicalCharacteristics</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.parser.SwerveModulePhysicalCharacteristics</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">SwerveModulePhysicalCharacteristics</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">Configuration class which stores physical characteristics shared between every swerve module.</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>final int</code></div>
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<div class="col-second even-row-color"><code><a href="#angleMotorCurrentLimit" class="member-name-link">angleMotorCurrentLimit</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Current limits for the Swerve Module.</div>
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</div>
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<div class="col-first odd-row-color"><code>final double</code></div>
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<div class="col-second odd-row-color"><code><a href="#angleMotorRampRate" class="member-name-link">angleMotorRampRate</a></code></div>
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<div class="col-last odd-row-color">
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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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</div>
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<div class="col-first even-row-color"><code><a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></code></div>
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<div class="col-second even-row-color"><code><a href="#conversionFactor" class="member-name-link">conversionFactor</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The conversion factors for the drive and angle motors, created by
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<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> and
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<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</div>
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</div>
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<div class="col-first odd-row-color"><code>final int</code></div>
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<div class="col-second odd-row-color"><code><a href="#driveMotorCurrentLimit" class="member-name-link">driveMotorCurrentLimit</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Current limits for the Swerve Module.</div>
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</div>
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<div class="col-first even-row-color"><code>final double</code></div>
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<div class="col-second even-row-color"><code><a href="#driveMotorRampRate" class="member-name-link">driveMotorRampRate</a></code></div>
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<div class="col-last even-row-color">
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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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</div>
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<div class="col-first odd-row-color"><code>double</code></div>
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<div class="col-second odd-row-color"><code><a href="#optimalVoltage" class="member-name-link">optimalVoltage</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">The voltage to use for the smart motor voltage compensation.</div>
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</div>
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<div class="col-first even-row-color"><code>final double</code></div>
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<div class="col-second even-row-color"><code><a href="#wheelGripCoefficientOfFriction" class="member-name-link">wheelGripCoefficientOfFriction</a></code></div>
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<div class="col-last even-row-color">
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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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</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.json.MotorConfigDouble,double,double)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a> conversionFactors,
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double driveMotorRampRate,
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double angleMotorRampRate)</code></div>
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<div class="col-last even-row-color">
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<div class="block">Construct the swerve module physical characteristics.</div>
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</div>
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<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(swervelib.parser.json.MotorConfigDouble,double,double,int,int,double,double)" class="member-name-link">SwerveModulePhysicalCharacteristics</a><wbr>(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a> conversionFactors,
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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)</code></div>
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<div class="col-last odd-row-color">
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<div class="block">Construct the swerve module physical characteristics.</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 class="inherited-list">
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<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>
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<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>
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</section>
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</li>
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</ul>
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</section>
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<section class="details">
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<ul class="details-list">
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<!-- ============ FIELD DETAIL =========== -->
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<li>
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<section class="field-details" id="field-detail">
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<h2>Field Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="driveMotorCurrentLimit">
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<h3>driveMotorCurrentLimit</h3>
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<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">int</span> <span class="element-name">driveMotorCurrentLimit</span></div>
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<div class="block">Current limits for the Swerve Module.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="angleMotorCurrentLimit">
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<h3>angleMotorCurrentLimit</h3>
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<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">int</span> <span class="element-name">angleMotorCurrentLimit</span></div>
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<div class="block">Current limits for the Swerve Module.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="driveMotorRampRate">
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<h3>driveMotorRampRate</h3>
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<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">driveMotorRampRate</span></div>
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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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</section>
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</li>
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<li>
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<section class="detail" id="angleMotorRampRate">
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<h3>angleMotorRampRate</h3>
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<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">angleMotorRampRate</span></div>
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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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</section>
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</li>
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<li>
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<section class="detail" id="wheelGripCoefficientOfFriction">
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<h3>wheelGripCoefficientOfFriction</h3>
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<div class="member-signature"><span class="modifiers">public final</span> <span class="return-type">double</span> <span class="element-name">wheelGripCoefficientOfFriction</span></div>
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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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</section>
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</li>
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<li>
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<section class="detail" id="optimalVoltage">
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<h3>optimalVoltage</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">double</span> <span class="element-name">optimalVoltage</span></div>
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<div class="block">The voltage to use for the smart motor voltage compensation.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="conversionFactor">
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<h3>conversionFactor</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a></span> <span class="element-name">conversionFactor</span></div>
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<div class="block">The conversion factors for the drive and angle motors, created by
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<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> and
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<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</div>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<li>
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<section class="constructor-details" id="constructor-detail">
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<h2>Constructor Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="<init>(swervelib.parser.json.MotorConfigDouble,double,double,int,int,double,double)">
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<h3>SwerveModulePhysicalCharacteristics</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a> conversionFactors,
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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)</span></div>
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<div class="block">Construct the swerve module physical characteristics.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>conversionFactors</code> - The conversion factors for the drive and angle motors, created by
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<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> and
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<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</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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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="<init>(swervelib.parser.json.MotorConfigDouble,double,double)">
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<h3>SwerveModulePhysicalCharacteristics</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveModulePhysicalCharacteristics</span><wbr><span class="parameters">(<a href="json/MotorConfigDouble.html" title="class in swervelib.parser.json">MotorConfigDouble</a> conversionFactors,
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double driveMotorRampRate,
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double angleMotorRampRate)</span></div>
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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 class="notes">
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<dt>Parameters:</dt>
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<dd><code>conversionFactors</code> - The conversion factors for the drive and angle motors, created by
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<a href="../math/SwerveMath.html#calculateMetersPerRotation(double,double,double)"><code>SwerveMath.calculateMetersPerRotation(double, double, double)</code></a> and
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<a href="../math/SwerveMath.html#calculateDegreesPerSteeringRotation(double,double)"><code>SwerveMath.calculateDegreesPerSteeringRotation(double, double)</code></a>.</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
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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 overdrawing
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power and power loss).</dd>
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</dl>
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</section>
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</li>
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</ul>
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</section>
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</li>
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</ul>
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</section>
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<!-- ========= END OF CLASS DATA ========= -->
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</main>
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</div>
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</div>
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</body>
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