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<title>SwerveDriveTelemetry</title>
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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.telemetry</a></div>
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<h1 title="Class SwerveDriveTelemetry" class="title">Class SwerveDriveTelemetry</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.telemetry.SwerveDriveTelemetry</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">SwerveDriveTelemetry</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">Telemetry to describe the <a href="../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> following frc-web-components. (Which follows AdvantageKit)</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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<!-- ======== NESTED CLASS SUMMARY ======== -->
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<li>
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<section class="nested-class-summary" id="nested-class-summary">
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<h2>Nested Class Summary</h2>
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<div class="caption"><span>Nested Classes</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">Class</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>static enum </code></div>
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<div class="col-second even-row-color"><code><a href="SwerveDriveTelemetry.TelemetryVerbosity.html" class="type-name-link" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Verbosity of telemetry data sent back.</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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<!-- =========== 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>static double[]</code></div>
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<div class="col-second even-row-color"><code><a href="#desiredChassisSpeeds" class="member-name-link">desiredChassisSpeeds</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Describes the desired forward, sideways and angular velocity of the robot.</div>
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</div>
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<div class="col-first odd-row-color"><code>static double[]</code></div>
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<div class="col-second odd-row-color"><code><a href="#desiredStates" class="member-name-link">desiredStates</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">An array of rotation and velocity values describing the desired state of each swerve module</div>
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</div>
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<div class="col-first even-row-color"><code>static <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
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<div class="col-second even-row-color"><code><a href="#forwardDirection" class="member-name-link">forwardDirection</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The direction the robot should be facing when the "Robot Rotation" is zero or blank.</div>
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</div>
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<div class="col-first odd-row-color"><code>static boolean</code></div>
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<div class="col-second odd-row-color"><code><a href="#isSimulation" class="member-name-link">isSimulation</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">State of simulation of the Robot, used to optimize retrieval.</div>
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</div>
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<div class="col-first even-row-color"><code>static double</code></div>
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<div class="col-second even-row-color"><code><a href="#maxAngularVelocity" class="member-name-link">maxAngularVelocity</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The maximum achievable angular velocity of the robot.</div>
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</div>
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<div class="col-first odd-row-color"><code>static double</code></div>
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<div class="col-second odd-row-color"><code><a href="#maxSpeed" class="member-name-link">maxSpeed</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">The maximum achievable speed of the modules, used to adjust the size of the vectors.</div>
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</div>
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<div class="col-first even-row-color"><code>static double[]</code></div>
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<div class="col-second even-row-color"><code><a href="#measuredChassisSpeeds" class="member-name-link">measuredChassisSpeeds</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The maximum achievable angular velocity of the robot.</div>
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</div>
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<div class="col-first odd-row-color"><code>static double[]</code></div>
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<div class="col-second odd-row-color"><code><a href="#measuredStates" class="member-name-link">measuredStates</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">An array of rotation and velocity values describing the measured state of each swerve module</div>
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</div>
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<div class="col-first even-row-color"><code>static int</code></div>
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<div class="col-second even-row-color"><code><a href="#moduleCount" class="member-name-link">moduleCount</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The number of swerve modules</div>
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</div>
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<div class="col-first odd-row-color"><code>static double</code></div>
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<div class="col-second odd-row-color"><code><a href="#robotRotation" class="member-name-link">robotRotation</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">The robot's current rotation based on odometry or gyro readings</div>
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</div>
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<div class="col-first even-row-color"><code>static <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
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<div class="col-second even-row-color"><code><a href="#rotationUnit" class="member-name-link">rotationUnit</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The units of the module rotations and robot rotation</div>
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</div>
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<div class="col-first odd-row-color"><code>static double</code></div>
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<div class="col-second odd-row-color"><code><a href="#sizeFrontBack" class="member-name-link">sizeFrontBack</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">The distance between the front and back modules.</div>
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</div>
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<div class="col-first even-row-color"><code>static double</code></div>
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<div class="col-second even-row-color"><code><a href="#sizeLeftRight" class="member-name-link">sizeLeftRight</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The distance between the left and right modules.</div>
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</div>
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<div class="col-first odd-row-color"><code>static <a href="SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></code></div>
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<div class="col-second odd-row-color"><code><a href="#verbosity" class="member-name-link">verbosity</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">The current telemetry verbosity level.</div>
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</div>
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<div class="col-first even-row-color"><code>static double[]</code></div>
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<div class="col-second even-row-color"><code><a href="#wheelLocations" class="member-name-link">wheelLocations</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">The number of swerve modules</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">SwerveDriveTelemetry</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="#updateData()" class="member-name-link">updateData</a>()</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">Upload data to smartdashboard</div>
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</div>
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</div>
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</div>
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</div>
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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="verbosity">
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<h3>verbosity</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type"><a href="SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></span> <span class="element-name">verbosity</span></div>
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<div class="block">The current telemetry verbosity level.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="isSimulation">
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<h3>isSimulation</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">boolean</span> <span class="element-name">isSimulation</span></div>
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<div class="block">State of simulation of the Robot, used to optimize retrieval.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="moduleCount">
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<h3>moduleCount</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">int</span> <span class="element-name">moduleCount</span></div>
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<div class="block">The number of swerve modules</div>
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</section>
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</li>
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<li>
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<section class="detail" id="wheelLocations">
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<h3>wheelLocations</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double[]</span> <span class="element-name">wheelLocations</span></div>
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<div class="block">The number of swerve modules</div>
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</section>
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</li>
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<li>
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<section class="detail" id="measuredStates">
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<h3>measuredStates</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double[]</span> <span class="element-name">measuredStates</span></div>
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<div class="block">An array of rotation and velocity values describing the measured state of each 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="desiredStates">
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<h3>desiredStates</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double[]</span> <span class="element-name">desiredStates</span></div>
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<div class="block">An array of rotation and velocity values describing the desired state of each 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="robotRotation">
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<h3>robotRotation</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">robotRotation</span></div>
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<div class="block">The robot's current rotation based on odometry or gyro readings</div>
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</section>
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</li>
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<li>
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<section class="detail" id="maxSpeed">
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<h3>maxSpeed</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">maxSpeed</span></div>
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<div class="block">The maximum achievable speed of the modules, used to adjust the size of the vectors.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="rotationUnit">
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<h3>rotationUnit</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></span> <span class="element-name">rotationUnit</span></div>
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<div class="block">The units of the module rotations and robot rotation</div>
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</section>
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</li>
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<li>
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<section class="detail" id="sizeLeftRight">
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<h3>sizeLeftRight</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">sizeLeftRight</span></div>
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<div class="block">The distance between the left and right modules.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="sizeFrontBack">
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<h3>sizeFrontBack</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">sizeFrontBack</span></div>
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<div class="block">The distance between the front and back modules.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="forwardDirection">
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<h3>forwardDirection</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></span> <span class="element-name">forwardDirection</span></div>
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<div class="block">The direction the robot should be facing when the "Robot Rotation" is zero or blank. This option is often useful to
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align with odometry data or match videos. 'up', 'right', 'down' or 'left'</div>
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</section>
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</li>
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<li>
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<section class="detail" id="maxAngularVelocity">
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<h3>maxAngularVelocity</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double</span> <span class="element-name">maxAngularVelocity</span></div>
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<div class="block">The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the
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chassis speeds properties.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="measuredChassisSpeeds">
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<h3>measuredChassisSpeeds</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double[]</span> <span class="element-name">measuredChassisSpeeds</span></div>
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<div class="block">The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the
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chassis speeds properties.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="desiredChassisSpeeds">
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<h3>desiredChassisSpeeds</h3>
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<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">double[]</span> <span class="element-name">desiredChassisSpeeds</span></div>
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<div class="block">Describes the desired forward, sideways and angular velocity of the robot.</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>()">
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|
<h3>SwerveDriveTelemetry</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveDriveTelemetry</span>()</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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|
<!-- ============ METHOD DETAIL ========== -->
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<li>
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|
<section class="method-details" id="method-detail">
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<h2>Method Details</h2>
|
|
<ul class="member-list">
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|
<li>
|
|
<section class="detail" id="updateData()">
|
|
<h3>updateData</h3>
|
|
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">updateData</span>()</div>
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<div class="block">Upload data to smartdashboard</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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</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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</html>
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