java.lang.Object
diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html
index 4b244489..f4cc8f4f 100644
--- a/docs/swervelib/parser/json/package-summary.html
+++ b/docs/swervelib/parser/json/package-summary.html
@@ -1,11 +1,11 @@
-
+
swervelib.parser.json
swervelib.parser.json Class Hierarchy
swervelib.parser
swervelib.parser Class Hierarchy
SwerveIMUSimulation
SwerveModuleSimulation
swervelib.simulation
swervelib.simulation Class Hierarchy
Alert.AlertType
Alert.SendableAlerts
Alert
SwerveDriveTelemetry.TelemetryVerbosity
SwerveDriveTelemetry
swervelib.telemetry
swervelib.telemetry Class Hierarchy
@@ -32,31 +33,35 @@ public class ModuleJson
* {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
* {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
*/
- public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
+ public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
+ /**
+ * Conversion Factors composition. Auto-calculates the conversion factors.
+ */
+ public ConversionFactorsJson conversionFactors = new ConversionFactorsJson();
/**
* Absolute encoder device configuration.
*/
- public DeviceJson encoder;
+ public DeviceJson encoder;
/**
* Defines which motors are inverted.
*/
- public BoolMotorJson inverted;
+ public BoolMotorJson inverted;
/**
* Absolute encoder offset from 0 in degrees.
*/
- public double absoluteEncoderOffset;
+ public double absoluteEncoderOffset;
/**
* Absolute encoder inversion state.
*/
- public boolean absoluteEncoderInverted = false;
+ public boolean absoluteEncoderInverted = false;
/**
* The location of the swerve module from the center of the robot in inches.
*/
- public LocationJson location;
+ public LocationJson location;
/**
* Should do cosine compensation when not pointing correct direction;.
*/
- public boolean useCosineCompensator = true;
+ public boolean useCosineCompensator = true;
/**
* Create the swerve module configuration based off of parsed data.
@@ -85,6 +90,27 @@ public SwerveModuleConfiguration createModuleConfiguration(
}
}
+ // Setup deprecation notice.
+// if (this.conversionFactor.drive != 0 && this.conversionFactor.angle != 0)
+// {
+// new Alert("Configuration",
+// "\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
+// "} \nis deprecated, please use\n" +
+// "'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
+// conversionFactor.angle + "} }",
+// AlertType.WARNING).set(true);
+// }
+
+ // Override with composite conversion factor.
+ if (!conversionFactors.isAngleEmpty())
+ {
+ conversionFactor.angle = conversionFactors.angle.calculate();
+ }
+ if (!conversionFactors.isDriveEmpty())
+ {
+ conversionFactor.drive = conversionFactors.drive.calculate();
+ }
+
// Set the conversion factors to null if they are both 0.
if (this.conversionFactor != null)
{
diff --git a/swervelib/parser/json/PhysicalPropertiesJson.java b/swervelib/parser/json/PhysicalPropertiesJson.java
index 4ede4025..7715d9d9 100644
--- a/swervelib/parser/json/PhysicalPropertiesJson.java
+++ b/swervelib/parser/json/PhysicalPropertiesJson.java
@@ -1,6 +1,9 @@
package swervelib.parser.json;
import swervelib.parser.SwerveModulePhysicalCharacteristics;
+import swervelib.parser.json.modules.ConversionFactorsJson;
+import swervelib.telemetry.Alert;
+import swervelib.telemetry.Alert.AlertType;
/**
* {@link swervelib.parser.SwerveModulePhysicalCharacteristics} parsed data. Used to configure the SwerveModule.
@@ -14,23 +17,27 @@ public class PhysicalPropertiesJson
* {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
* {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
*/
- public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
+ public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
+ /**
+ * Conversion Factors composition. Auto-calculates the conversion factors.
+ */
+ public ConversionFactorsJson conversionFactors = new ConversionFactorsJson();
/**
* The current limit in AMPs to apply to the motors.
*/
- public MotorConfigInt currentLimit = new MotorConfigInt(40, 20);
+ public MotorConfigInt currentLimit = new MotorConfigInt(40, 20);
/**
* The minimum number of seconds to take for the motor to go from 0 to full throttle.
*/
- public MotorConfigDouble rampRate = new MotorConfigDouble(0.25, 0.25);
+ public MotorConfigDouble rampRate = new MotorConfigDouble(0.25, 0.25);
/**
* The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.
*/
- public double wheelGripCoefficientOfFriction = 1.19;
+ public double wheelGripCoefficientOfFriction = 1.19;
/**
* The voltage to use for the smart motor voltage compensation, default is 12.
*/
- public double optimalVoltage = 12;
+ public double optimalVoltage = 12;
/**
* Create the physical characteristics based off the parsed data.
@@ -39,6 +46,28 @@ public class PhysicalPropertiesJson
*/
public SwerveModulePhysicalCharacteristics createPhysicalProperties()
{
+ // Setup deprecation notice.
+// if (conversionFactor.drive != 0 && conversionFactor.angle != 0 && conversionFactors.isDriveEmpty() &&
+// conversionFactors.isAngleEmpty())
+// {
+// new Alert("Configuration",
+// "\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
+// "} \nis deprecated, please use\n" +
+// "'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
+// conversionFactor.angle + "} }",
+// AlertType.ERROR_TRACE).set(true);
+// }
+
+ if (!conversionFactors.isAngleEmpty())
+ {
+ conversionFactor.angle = conversionFactors.angle.calculate();
+ }
+
+ if (!conversionFactors.isDriveEmpty())
+ {
+ conversionFactor.drive = conversionFactors.drive.calculate();
+ }
+
return new SwerveModulePhysicalCharacteristics(
conversionFactor,
wheelGripCoefficientOfFriction,
diff --git a/swervelib/parser/json/modules/AngleConversionFactorsJson.java b/swervelib/parser/json/modules/AngleConversionFactorsJson.java
new file mode 100644
index 00000000..a7c8613a
--- /dev/null
+++ b/swervelib/parser/json/modules/AngleConversionFactorsJson.java
@@ -0,0 +1,41 @@
+package swervelib.parser.json.modules;
+
+import swervelib.math.SwerveMath;
+import swervelib.telemetry.Alert;
+import swervelib.telemetry.Alert.AlertType;
+
+/**
+ * Angle motor conversion factors composite JSON parse class.
+ */
+public class AngleConversionFactorsJson
+{
+
+ /**
+ * Gear ratio for the angle/steering/azimuth motor on the Swerve Module. Motor rotations to 1 wheel rotation.
+ */
+ public double gearRatio = 0;
+ /**
+ * Calculated or given conversion factor.
+ */
+ public double factor = 0;
+
+ /**
+ * Calculate the drive conversion factor.
+ *
+ * @return Drive conversion factor, if factor isn't set.
+ */
+ public double calculate()
+ {
+ if (factor != 0 && gearRatio != 0)
+ {
+ new Alert("Configuration",
+ "The given angle conversion factor takes precedence over the composite conversion factor, please remove 'factor' if you want to use the composite factor instead.",
+ AlertType.WARNING).set(true);
+ }
+ if (factor == 0)
+ {
+ factor = SwerveMath.calculateDegreesPerSteeringRotation(gearRatio);
+ }
+ return factor;
+ }
+}
diff --git a/swervelib/parser/json/modules/ConversionFactorsJson.java b/swervelib/parser/json/modules/ConversionFactorsJson.java
new file mode 100644
index 00000000..85ff25f2
--- /dev/null
+++ b/swervelib/parser/json/modules/ConversionFactorsJson.java
@@ -0,0 +1,37 @@
+package swervelib.parser.json.modules;
+
+/**
+ * Conversion Factors parsed JSON class
+ */
+public class ConversionFactorsJson
+{
+
+ /**
+ * Drive motor conversion factors composition.
+ */
+ public DriveConversionFactorsJson drive = new DriveConversionFactorsJson();
+ /**
+ * Angle motor conversion factors composition.
+ */
+ public AngleConversionFactorsJson angle = new AngleConversionFactorsJson();
+
+ /**
+ * Check if the conversion factors are set for the drive motor.
+ *
+ * @return Empty
+ */
+ public boolean isDriveEmpty()
+ {
+ return drive.factor == 0 && drive.diameter == 0 && drive.gearRatio == 0;
+ }
+
+ /**
+ * Check if the conversion factors are set for the angle motor.
+ *
+ * @return Empty
+ */
+ public boolean isAngleEmpty()
+ {
+ return angle.factor == 0 && angle.gearRatio == 0;
+ }
+}
diff --git a/swervelib/parser/json/modules/DriveConversionFactorsJson.java b/swervelib/parser/json/modules/DriveConversionFactorsJson.java
new file mode 100644
index 00000000..d792d36d
--- /dev/null
+++ b/swervelib/parser/json/modules/DriveConversionFactorsJson.java
@@ -0,0 +1,46 @@
+package swervelib.parser.json.modules;
+
+import edu.wpi.first.math.util.Units;
+import swervelib.math.SwerveMath;
+import swervelib.telemetry.Alert;
+import swervelib.telemetry.Alert.AlertType;
+
+/**
+ * Drive motor composite JSON parse class.
+ */
+public class DriveConversionFactorsJson
+{
+
+ /**
+ * Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.
+ */
+ public double gearRatio = 0;
+ /**
+ * Diameter of the wheel in inches.
+ */
+ public double diameter = 0;
+ /**
+ * Calculated conversion factor.
+ */
+ public double factor = 0;
+
+ /**
+ * Calculate the drive conversion factor.
+ *
+ * @return Drive conversion factor, if factor isn't set.
+ */
+ public double calculate()
+ {
+ if (factor != 0 && (diameter != 0 || gearRatio != 0))
+ {
+ new Alert("Configuration",
+ "The given drive conversion factor takes precedence over the composite conversion factor, please remove 'factor' if you want to use the composite factor instead.",
+ AlertType.WARNING).set(true);
+ }
+ if (factor == 0)
+ {
+ factor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(this.diameter), this.gearRatio);
+ }
+ return factor;
+ }
+}