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616 lines
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<title>SwerveDriveTest</title>
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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 SwerveDriveTest" class="title">Class SwerveDriveTest</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.SwerveDriveTest</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">SwerveDriveTest</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">Class to perform tests on 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>private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Angle></code></div>
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<div class="col-second even-row-color"><code><a href="#m_anglePosition" class="member-name-link">m_anglePosition</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Tracks the rotations of an angular motor</div>
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</div>
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<div class="col-first odd-row-color"><code>private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Velocity<edu.wpi.first.units.Angle>></code></div>
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<div class="col-second odd-row-color"><code><a href="#m_angVelocity" class="member-name-link">m_angVelocity</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Tracks the velocity of an angular motor</div>
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</div>
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<div class="col-first even-row-color"><code>private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Voltage></code></div>
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<div class="col-second even-row-color"><code><a href="#m_appliedVoltage" class="member-name-link">m_appliedVoltage</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Tracks the voltage being applied to a motor</div>
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</div>
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<div class="col-first odd-row-color"><code>private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Distance></code></div>
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<div class="col-second odd-row-color"><code><a href="#m_distance" class="member-name-link">m_distance</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Tracks the distance travelled of a position motor</div>
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</div>
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<div class="col-first even-row-color"><code>private static final edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Velocity<edu.wpi.first.units.Distance>></code></div>
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<div class="col-second even-row-color"><code><a href="#m_velocity" class="member-name-link">m_velocity</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Tracks the velocity of a positional motor</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()" class="member-name-link">SwerveDriveTest</a>()</code></div>
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<div class="col-last even-row-color"> </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-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static 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-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#angleModules(swervelib.SwerveDrive,edu.wpi.first.math.geometry.Rotation2d)" class="member-name-link">angleModules</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
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edu.wpi.first.math.geometry.Rotation2d moduleAngle)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Set the angle of the modules to a given <code>Rotation2d</code></div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#centerModules(swervelib.SwerveDrive)" class="member-name-link">centerModules</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Set the modules to center to 0.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#createConfigCustomTimeout(double)" class="member-name-link">createConfigCustomTimeout</a><wbr>(double timeout)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Creates a SysIdRoutine.Config with a custom final timeout</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#findCouplingRatio(swervelib.SwerveDrive,double,boolean)" class="member-name-link">findCouplingRatio</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
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double volts,
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boolean automatic)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Find the coupling ratio for all modules.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static double</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#findDriveMotorKV(swervelib.SwerveDrive,double,double,double)" class="member-name-link">findDriveMotorKV</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
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double minMovement,
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double testDelaySeconds,
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double maxVolts)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Find the minimum amount of power required to move the swerve drive motors.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.wpilibj2.command.Command</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#generateSysIdCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine,double,double,double)" class="member-name-link">generateSysIdCommand</a><wbr>(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine sysIdRoutine,
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double delay,
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double quasiTimeout,
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double dynamicTimeout)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Creates a command that can be mapped to a button or other trigger.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logAngularMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)" class="member-name-link">logAngularMotorActivity</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
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edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log,
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<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a><<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link">Double</a>> powerSupplied)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Logs info about the angle motor to the SysIdRoutineLog</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logAngularMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)" class="member-name-link">logAngularMotorDutyCycle</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
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edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Logs info about the angle motor to the SysIdRoutineLog.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logAngularMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)" class="member-name-link">logAngularMotorVoltage</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
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edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Logs info about the angle motor to the SysIdRoutineLog</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logDriveMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)" class="member-name-link">logDriveMotorActivity</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
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edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log,
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<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a><<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link">Double</a>> powerSupplied)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Logs power, position and velocuty info form the drive motor to the SysIdRoutineLog</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logDriveMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)" class="member-name-link">logDriveMotorDutyCycle</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
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edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Logs output, position and velocuty info form the drive motor to the SysIdRoutineLog <br/> Although SysIdRoutine
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expects to be logging Voltage, this function logs in Duty-Cycle (percent output) because it results in correctly
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adjusted values in the analysis for use in this library.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#logDriveMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)" class="member-name-link">logDriveMotorVoltage</a><wbr>(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
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edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Logs voltage, position and velocuty info form the drive motor to the SysIdRoutineLog</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#powerAngleMotorsDutyCycle(swervelib.SwerveDrive,double)" class="member-name-link">powerAngleMotorsDutyCycle</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
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double percentage)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Power the angle motors for the swerve drive to a set percentage.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#powerAngleMotorsVoltage(swervelib.SwerveDrive,double)" class="member-name-link">powerAngleMotorsVoltage</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
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double volts)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
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<div class="block">Power the angle motors for the swerve drive to a set voltage.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#powerDriveMotorsDutyCycle(swervelib.SwerveDrive,double)" class="member-name-link">powerDriveMotorsDutyCycle</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
double percentage)</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
|
|
<div class="block">Power the drive motors for the swerve drive to a set duty cycle percentage.</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#powerDriveMotorsVoltage(swervelib.SwerveDrive,double)" class="member-name-link">powerDriveMotorsVoltage</a><wbr>(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
double volts)</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
|
|
<div class="block">Power the drive motors for the swerve drive to a set voltage.</div>
|
|
</div>
|
|
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine</code></div>
|
|
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#setAngleSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive)" class="member-name-link">setAngleSysIdRoutine</a><wbr>(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config config,
|
|
edu.wpi.first.wpilibj2.command.SubsystemBase swerveSubsystem,
|
|
<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive)</code></div>
|
|
<div class="col-last even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
|
|
<div class="block">Sets up the SysId runner and logger for the angle motors</div>
|
|
</div>
|
|
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine</code></div>
|
|
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#setDriveSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive,double)" class="member-name-link">setDriveSysIdRoutine</a><wbr>(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config config,
|
|
edu.wpi.first.wpilibj2.command.SubsystemBase swerveSubsystem,
|
|
<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
double maxVolts)</code></div>
|
|
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
|
|
<div class="block">Sets up the SysId runner and logger for the drive motors</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="m_appliedVoltage">
|
|
<h3>m_appliedVoltage</h3>
|
|
<div class="member-signature"><span class="modifiers">private static final</span> <span class="return-type">edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Voltage></span> <span class="element-name">m_appliedVoltage</span></div>
|
|
<div class="block">Tracks the voltage being applied to a motor</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="m_distance">
|
|
<h3>m_distance</h3>
|
|
<div class="member-signature"><span class="modifiers">private static final</span> <span class="return-type">edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Distance></span> <span class="element-name">m_distance</span></div>
|
|
<div class="block">Tracks the distance travelled of a position motor</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="m_velocity">
|
|
<h3>m_velocity</h3>
|
|
<div class="member-signature"><span class="modifiers">private static final</span> <span class="return-type">edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Velocity<edu.wpi.first.units.Distance>></span> <span class="element-name">m_velocity</span></div>
|
|
<div class="block">Tracks the velocity of a positional motor</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="m_anglePosition">
|
|
<h3>m_anglePosition</h3>
|
|
<div class="member-signature"><span class="modifiers">private static final</span> <span class="return-type">edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Angle></span> <span class="element-name">m_anglePosition</span></div>
|
|
<div class="block">Tracks the rotations of an angular motor</div>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="m_angVelocity">
|
|
<h3>m_angVelocity</h3>
|
|
<div class="member-signature"><span class="modifiers">private static final</span> <span class="return-type">edu.wpi.first.units.MutableMeasure<edu.wpi.first.units.Velocity<edu.wpi.first.units.Angle>></span> <span class="element-name">m_angVelocity</span></div>
|
|
<div class="block">Tracks the velocity of an angular motor</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>()">
|
|
<h3>SwerveDriveTest</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveDriveTest</span>()</div>
|
|
</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="angleModules(swervelib.SwerveDrive,edu.wpi.first.math.geometry.Rotation2d)">
|
|
<h3>angleModules</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">angleModules</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
edu.wpi.first.math.geometry.Rotation2d moduleAngle)</span></div>
|
|
<div class="block">Set the angle of the modules to a given <code>Rotation2d</code></div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>swerveDrive</code> - <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> to use.</dd>
|
|
<dd><code>moduleAngle</code> - <code>Rotation2d</code> to set every module to.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="powerDriveMotorsDutyCycle(swervelib.SwerveDrive,double)">
|
|
<h3>powerDriveMotorsDutyCycle</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">powerDriveMotorsDutyCycle</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
double percentage)</span></div>
|
|
<div class="block">Power the drive motors for the swerve drive to a set duty cycle percentage.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>swerveDrive</code> - <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> to control.</dd>
|
|
<dd><code>percentage</code> - Duty cycle percentage of voltage to send to drive motors.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="powerAngleMotorsDutyCycle(swervelib.SwerveDrive,double)">
|
|
<h3>powerAngleMotorsDutyCycle</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">powerAngleMotorsDutyCycle</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
double percentage)</span></div>
|
|
<div class="block">Power the angle motors for the swerve drive to a set percentage.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>swerveDrive</code> - <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> to control.</dd>
|
|
<dd><code>percentage</code> - DutyCycle percentage to send to angle motors.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="powerDriveMotorsVoltage(swervelib.SwerveDrive,double)">
|
|
<h3>powerDriveMotorsVoltage</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">powerDriveMotorsVoltage</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
double volts)</span></div>
|
|
<div class="block">Power the drive motors for the swerve drive to a set voltage.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>swerveDrive</code> - <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> to control.</dd>
|
|
<dd><code>volts</code> - DutyCycle percentage of voltage to send to drive motors.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="powerAngleMotorsVoltage(swervelib.SwerveDrive,double)">
|
|
<h3>powerAngleMotorsVoltage</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">powerAngleMotorsVoltage</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
double volts)</span></div>
|
|
<div class="block">Power the angle motors for the swerve drive to a set voltage.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>swerveDrive</code> - <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> to control.</dd>
|
|
<dd><code>volts</code> - Voltage to send to angle motors.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="centerModules(swervelib.SwerveDrive)">
|
|
<h3>centerModules</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">centerModules</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive)</span></div>
|
|
<div class="block">Set the modules to center to 0.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>swerveDrive</code> - Swerve Drive to control.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="findDriveMotorKV(swervelib.SwerveDrive,double,double,double)">
|
|
<h3>findDriveMotorKV</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">findDriveMotorKV</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
double minMovement,
|
|
double testDelaySeconds,
|
|
double maxVolts)</span></div>
|
|
<div class="block">Find the minimum amount of power required to move the swerve drive motors.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>swerveDrive</code> - <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> to control.</dd>
|
|
<dd><code>minMovement</code> - Minimum amount of movement to drive motors.</dd>
|
|
<dd><code>testDelaySeconds</code> - Time in seconds for the motor to move.</dd>
|
|
<dd><code>maxVolts</code> - The maximum voltage to send to drive motors.</dd>
|
|
<dt>Returns:</dt>
|
|
<dd>minimum voltage required.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="findCouplingRatio(swervelib.SwerveDrive,double,boolean)">
|
|
<h3>findCouplingRatio</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">findCouplingRatio</span><wbr><span class="parameters">(<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
|
|
double volts,
|
|
boolean automatic)</span></div>
|
|
<div class="block">Find the coupling ratio for all modules.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>swerveDrive</code> - <a href="SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> to operate with.</dd>
|
|
<dd><code>volts</code> - Voltage to send to angle motors to spin.</dd>
|
|
<dd><code>automatic</code> - Attempt to automatically spin the modules.</dd>
|
|
<dt>Returns:</dt>
|
|
<dd>Average coupling ratio.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="createConfigCustomTimeout(double)">
|
|
<h3>createConfigCustomTimeout</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config</span> <span class="element-name">createConfigCustomTimeout</span><wbr><span class="parameters">(double timeout)</span></div>
|
|
<div class="block">Creates a SysIdRoutine.Config with a custom final timeout</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>timeout</code> - - the most a SysIdRoutine should run</dd>
|
|
<dt>Returns:</dt>
|
|
<dd>A custom SysIdRoutine.Config</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="logDriveMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)">
|
|
<h3>logDriveMotorDutyCycle</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">logDriveMotorDutyCycle</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
|
|
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)</span></div>
|
|
<div class="block">Logs output, position and velocuty info form the drive motor to the SysIdRoutineLog <br/> Although SysIdRoutine
|
|
expects to be logging Voltage, this function logs in Duty-Cycle (percent output) because it results in correctly
|
|
adjusted values in the analysis for use in this library.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>module</code> - - the swerve module being logged</dd>
|
|
<dd><code>log</code> - - the logger</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="logDriveMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)">
|
|
<h3>logDriveMotorVoltage</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">logDriveMotorVoltage</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
|
|
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)</span></div>
|
|
<div class="block">Logs voltage, position and velocuty info form the drive motor to the SysIdRoutineLog</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>module</code> - - the swerve module being logged</dd>
|
|
<dd><code>log</code> - - the logger</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="logDriveMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)">
|
|
<h3>logDriveMotorActivity</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">logDriveMotorActivity</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
|
|
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log,
|
|
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a><<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link">Double</a>> powerSupplied)</span></div>
|
|
<div class="block">Logs power, position and velocuty info form the drive motor to the SysIdRoutineLog</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>module</code> - - the swerve module being logged</dd>
|
|
<dd><code>log</code> - - the logger</dd>
|
|
<dd><code>powerSupplied</code> - - a functional supplier of the power to be logged</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="setDriveSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive,double)">
|
|
<h3>setDriveSysIdRoutine</h3>
|
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine</span> <span class="element-name">setDriveSysIdRoutine</span><wbr><span class="parameters">(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config config,
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edu.wpi.first.wpilibj2.command.SubsystemBase swerveSubsystem,
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<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive,
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double maxVolts)</span></div>
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<div class="block">Sets up the SysId runner and logger for the drive motors</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>config</code> - - The SysIdRoutine.Config to use</dd>
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<dd><code>swerveSubsystem</code> - - the subsystem to add to requirements</dd>
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<dd><code>swerveDrive</code> - - the SwerveDrive from which to access motor info</dd>
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<dd><code>maxVolts</code> - - The maximum voltage that should be applied to the drive motors.</dd>
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<dt>Returns:</dt>
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<dd>A SysIdRoutine runner</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="logAngularMotorDutyCycle(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)">
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<h3>logAngularMotorDutyCycle</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">logAngularMotorDutyCycle</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
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edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)</span></div>
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<div class="block">Logs info about the angle motor to the SysIdRoutineLog. <br/> Although SysIdRoutine expects to be logging Voltage,
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this function logs in Duty-Cycle (percent output) because it results in correctly adjusted values in the analysis
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for use in this library.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>module</code> - - the swerve module being logged</dd>
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<dd><code>log</code> - - the logger</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="logAngularMotorVoltage(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog)">
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<h3>logAngularMotorVoltage</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">logAngularMotorVoltage</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
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edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log)</span></div>
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<div class="block">Logs info about the angle motor to the SysIdRoutineLog</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>module</code> - - the swerve module being logged</dd>
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<dd><code>log</code> - - the logger</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="logAngularMotorActivity(swervelib.SwerveModule,edu.wpi.first.wpilibj.sysid.SysIdRoutineLog,java.util.function.Supplier)">
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<h3>logAngularMotorActivity</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">logAngularMotorActivity</span><wbr><span class="parameters">(<a href="SwerveModule.html" title="class in swervelib">SwerveModule</a> module,
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edu.wpi.first.wpilibj.sysid.SysIdRoutineLog log,
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<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/function/Supplier.html" title="class or interface in java.util.function" class="external-link">Supplier</a><<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link">Double</a>> powerSupplied)</span></div>
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<div class="block">Logs info about the angle motor to the SysIdRoutineLog</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>module</code> - - the swerve module being logged</dd>
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<dd><code>log</code> - - the logger</dd>
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<dd><code>powerSupplied</code> - - a functional supplier of the power to be logged</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="setAngleSysIdRoutine(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config,edu.wpi.first.wpilibj2.command.SubsystemBase,swervelib.SwerveDrive)">
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<h3>setAngleSysIdRoutine</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine</span> <span class="element-name">setAngleSysIdRoutine</span><wbr><span class="parameters">(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config config,
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edu.wpi.first.wpilibj2.command.SubsystemBase swerveSubsystem,
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<a href="SwerveDrive.html" title="class in swervelib">SwerveDrive</a> swerveDrive)</span></div>
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<div class="block">Sets up the SysId runner and logger for the angle motors</div>
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|
<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>config</code> - - The SysIdRoutine.Config to use</dd>
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<dd><code>swerveSubsystem</code> - - the subsystem to add to requirements</dd>
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<dd><code>swerveDrive</code> - - the SwerveDrive from which to access motor info</dd>
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<dt>Returns:</dt>
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<dd>A SysIdRoutineRunner</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="generateSysIdCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine,double,double,double)">
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<h3>generateSysIdCommand</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">edu.wpi.first.wpilibj2.command.Command</span> <span class="element-name">generateSysIdCommand</span><wbr><span class="parameters">(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine sysIdRoutine,
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double delay,
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double quasiTimeout,
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double dynamicTimeout)</span></div>
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<div class="block">Creates a command that can be mapped to a button or other trigger. Delays can be set to customize the length of
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each part of the SysId Routine</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>sysIdRoutine</code> - - The Sys Id routine runner</dd>
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<dd><code>delay</code> - - seconds between each portion to allow motors to spin down, etc...</dd>
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<dd><code>quasiTimeout</code> - - seconds to run the Quasistatic routines, so robot doesn't get too far</dd>
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<dd><code>dynamicTimeout</code> - - seconds to run the Dynamic routines, 2-3 secs should be enough</dd>
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<dt>Returns:</dt>
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<dd>A command that can be mapped to a button or other trigger</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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