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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">swervelib.parser</a></div>
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<h2 title="Class SwerveControllerConfiguration" class="title">Class SwerveControllerConfiguration</h2>
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<li>swervelib.parser.SwerveControllerConfiguration</li>
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<pre>public class <span class="typeNameLabel">SwerveControllerConfiguration</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">Swerve Controller configuration class which is used to configure <a href="../SwerveController.html" title="class in swervelib"><code>SwerveController</code></a>.</div>
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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="#angleJoyStickRadiusDeadband">angleJoyStickRadiusDeadband</a></span></code></th>
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<td class="colLast">
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<div class="block">hypotenuse deadband for the robot angle control joystick.</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><a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#headingPIDF">headingPIDF</a></span></code></th>
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<td class="colLast">
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<div class="block">PIDF for the heading 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="#maxAngularVelocity">maxAngularVelocity</a></span></code></th>
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<td class="colLast">
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<div class="block">Maximum angular velocity in rad/s</div>
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</td>
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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="#maxSpeed">maxSpeed</a></span></code></th>
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<td class="colLast">
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<div class="block">Maximum robot speed in meters per second.</div>
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</td>
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</tr>
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</table>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)">SwerveControllerConfiguration</a></span>​(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> driveCfg,
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<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> headingPIDF)</code></th>
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<td class="colLast">
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<div class="block">Construct the swerve controller configuration.</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(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)">SwerveControllerConfiguration</a></span>​(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> driveCfg,
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<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> headingPIDF,
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double angleJoyStickRadiusDeadband)</code></th>
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<td class="colLast">
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<div class="block">Construct the swerve controller configuration.</div>
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</td>
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</tr>
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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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<h4>maxSpeed</h4>
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<pre>public final double maxSpeed</pre>
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<div class="block">Maximum robot speed in meters per second.</div>
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<h4>maxAngularVelocity</h4>
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<pre>public final double maxAngularVelocity</pre>
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<div class="block">Maximum angular velocity in rad/s</div>
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</li>
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</ul>
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<a id="headingPIDF">
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<h4>headingPIDF</h4>
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<pre>public final <a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> headingPIDF</pre>
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<div class="block">PIDF for the heading of the robot.</div>
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</li>
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<h4>angleJoyStickRadiusDeadband</h4>
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<pre>public final double angleJoyStickRadiusDeadband</pre>
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<div class="block">hypotenuse deadband for the robot angle control joystick.</div>
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</li>
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<a id="<init>(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig,double)">
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<h4>SwerveControllerConfiguration</h4>
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<pre>public SwerveControllerConfiguration​(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> driveCfg,
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<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> headingPIDF,
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double angleJoyStickRadiusDeadband)</pre>
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<div class="block">Construct the swerve controller configuration.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>driveCfg</code> - Drive configuration.</dd>
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<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
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<dd><code>angleJoyStickRadiusDeadband</code> - Deadband on radius of angle joystick.</dd>
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</dl>
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</li>
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<a id="<init>(swervelib.parser.SwerveDriveConfiguration,swervelib.parser.PIDFConfig)">
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<h4>SwerveControllerConfiguration</h4>
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<pre>public SwerveControllerConfiguration​(<a href="SwerveDriveConfiguration.html" title="class in swervelib.parser">SwerveDriveConfiguration</a> driveCfg,
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<a href="PIDFConfig.html" title="class in swervelib.parser">PIDFConfig</a> headingPIDF)</pre>
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<div class="block">Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be
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set on angle joystick is .5 of the controller).</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>driveCfg</code> - Drive configuration.</dd>
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<dd><code>headingPIDF</code> - Heading PIDF configuration.</dd>
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</dl>
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