YAGSL/swervelib/parser/SwerveDriveConfiguration.java

package swervelib.parser;

import edu.wpi.first.math.geometry.Translation2d;
import swervelib.SwerveModule;
import swervelib.imu.SwerveIMU;

/**
 * Swerve drive configurations used during SwerveDrive construction.
 */
public class SwerveDriveConfiguration {

    /**
     * Swerve Module locations.
     */
    public Translation2d[] moduleLocationsMeters;
    /**
     * Swerve IMU
     */
    public SwerveIMU imu;
    /**
     * Invert the imu measurements.
     */
    public boolean invertedIMU = false;
    /**
     * Max module speed in meters per second.
     */
    public double maxSpeed, attainableMaxTranslationalSpeedMetersPerSecond, attainableMaxRotationalVelocityRadiansPerSecond;
    /**
     * Number of modules on the robot.
     */
    public int moduleCount;
    /**
     * Swerve Modules.
     */
    public SwerveModule[] modules;

    /**
     * Create swerve drive configuration.
     *
     * @param moduleConfigs Module configuration.
     * @param swerveIMU     Swerve IMU.
     * @param maxSpeed      Max speed of the robot in meters per second.
     * @param invertedIMU   Invert the IMU.
     */
    public SwerveDriveConfiguration(
            SwerveModuleConfiguration[] moduleConfigs,
            SwerveIMU swerveIMU,
            double maxSpeed,
            boolean invertedIMU) {
        this.moduleCount = moduleConfigs.length;
        this.imu = swerveIMU;
        this.maxSpeed = maxSpeed;
        this.attainableMaxRotationalVelocityRadiansPerSecond = 0;
        this.attainableMaxTranslationalSpeedMetersPerSecond = 0;
        this.invertedIMU = invertedIMU;
        this.modules = createModules(moduleConfigs);
        this.moduleLocationsMeters = new Translation2d[moduleConfigs.length];
        for (SwerveModule module : modules) {
            this.moduleLocationsMeters[module.moduleNumber] = module.configuration.moduleLocation;
        }
    }

    /**
     * Create modules based off of the SwerveModuleConfiguration.
     *
     * @param swerves Swerve constants.
     * @return Swerve Modules.
     */
    public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves) {
        SwerveModule[] modArr = new SwerveModule[swerves.length];
        for (int i = 0; i < swerves.length; i++) {
            modArr[i] = new SwerveModule(i, swerves[i]);
        }
        return modArr;
    }
}