From a53d41b282ce7d6939c68c4ec50dd4e54d4f2f1d Mon Sep 17 00:00:00 2001 From: thenetworkgrinch Date: Sun, 20 Oct 2024 09:14:32 -0500 Subject: [PATCH] Update 2024.6.1.0 --- docs/allclasses-index.html | 198 ++++----- docs/allpackages-index.html | 4 +- docs/constant-values.html | 4 +- docs/help-doc.html | 4 +- docs/index-files/index-1.html | 4 +- docs/index-files/index-10.html | 4 +- docs/index-files/index-11.html | 4 +- docs/index-files/index-12.html | 4 +- docs/index-files/index-13.html | 4 +- docs/index-files/index-14.html | 8 +- docs/index-files/index-15.html | 4 +- docs/index-files/index-16.html | 4 +- docs/index-files/index-17.html | 4 +- docs/index-files/index-18.html | 16 +- docs/index-files/index-19.html | 4 +- docs/index-files/index-2.html | 4 +- docs/index-files/index-20.html | 4 +- docs/index-files/index-21.html | 4 +- docs/index-files/index-22.html | 4 +- docs/index-files/index-23.html | 4 +- docs/index-files/index-24.html | 4 +- docs/index-files/index-25.html | 4 +- docs/index-files/index-3.html | 16 +- docs/index-files/index-4.html | 4 +- docs/index-files/index-5.html | 4 +- docs/index-files/index-6.html | 8 +- docs/index-files/index-7.html | 24 +- docs/index-files/index-8.html | 4 +- docs/index-files/index-9.html | 12 +- docs/index.html | 4 +- docs/member-search-index.js | 2 +- docs/overview-summary.html | 4 +- docs/overview-tree.html | 5 +- docs/swervelib/SwerveController.html | 4 +- docs/swervelib/SwerveDrive.html | 4 +- docs/swervelib/SwerveDriveTest.html | 4 +- docs/swervelib/SwerveModule.html | 4 +- .../encoders/AnalogAbsoluteEncoderSwerve.html | 4 +- docs/swervelib/encoders/CANCoderSwerve.html | 4 +- docs/swervelib/encoders/CanAndMagSwerve.html | 4 +- .../encoders/PWMDutyCycleEncoderSwerve.html | 4 +- .../encoders/SparkMaxAnalogEncoderSwerve.html | 4 +- .../encoders/SparkMaxEncoderSwerve.html | 4 +- .../encoders/SwerveAbsoluteEncoder.html | 4 +- docs/swervelib/encoders/package-summary.html | 4 +- docs/swervelib/encoders/package-tree.html | 4 +- docs/swervelib/imu/ADIS16448Swerve.html | 4 +- docs/swervelib/imu/ADIS16470Swerve.html | 4 +- docs/swervelib/imu/ADXRS450Swerve.html | 4 +- docs/swervelib/imu/AnalogGyroSwerve.html | 4 +- docs/swervelib/imu/CanandgyroSwerve.html | 386 ++++++++++++++++++ docs/swervelib/imu/IMUVelocity.html | 4 +- docs/swervelib/imu/NavXSwerve.html | 4 +- docs/swervelib/imu/Pigeon2Swerve.html | 4 +- docs/swervelib/imu/PigeonSwerve.html | 4 +- docs/swervelib/imu/SwerveIMU.html | 6 +- docs/swervelib/imu/package-summary.html | 26 +- docs/swervelib/imu/package-tree.html | 5 +- .../math/IMULinearMovingAverageFilter.html | 4 +- docs/swervelib/math/Matter.html | 4 +- docs/swervelib/math/SwerveMath.html | 4 +- docs/swervelib/math/package-summary.html | 4 +- docs/swervelib/math/package-tree.html | 4 +- .../SparkFlexSwerve.SparkMAX_slotIdx.html | 4 +- docs/swervelib/motors/SparkFlexSwerve.html | 4 +- .../motors/SparkMaxBrushedMotorSwerve.html | 4 +- .../SparkMaxSwerve.SparkMAX_slotIdx.html | 4 +- docs/swervelib/motors/SparkMaxSwerve.html | 4 +- docs/swervelib/motors/SwerveMotor.html | 4 +- docs/swervelib/motors/TalonFXSwerve.html | 4 +- docs/swervelib/motors/TalonSRXSwerve.html | 4 +- docs/swervelib/motors/package-summary.html | 4 +- docs/swervelib/motors/package-tree.html | 4 +- docs/swervelib/package-summary.html | 4 +- docs/swervelib/package-tree.html | 4 +- docs/swervelib/parser/Cache.html | 4 +- docs/swervelib/parser/PIDFConfig.html | 4 +- .../parser/SwerveControllerConfiguration.html | 4 +- .../parser/SwerveDriveConfiguration.html | 4 +- .../parser/SwerveModuleConfiguration.html | 4 +- .../SwerveModulePhysicalCharacteristics.html | 4 +- docs/swervelib/parser/SwerveParser.html | 4 +- .../parser/deserializer/PIDFRange.html | 4 +- .../parser/deserializer/package-summary.html | 4 +- .../parser/deserializer/package-tree.html | 4 +- .../parser/json/ControllerPropertiesJson.html | 4 +- docs/swervelib/parser/json/DeviceJson.html | 4 +- docs/swervelib/parser/json/ModuleJson.html | 4 +- .../parser/json/MotorConfigDouble.html | 4 +- .../swervelib/parser/json/MotorConfigInt.html | 4 +- .../parser/json/PIDFPropertiesJson.html | 4 +- .../parser/json/PhysicalPropertiesJson.html | 4 +- .../parser/json/SwerveDriveJson.html | 4 +- .../modules/AngleConversionFactorsJson.html | 4 +- .../parser/json/modules/BoolMotorJson.html | 4 +- .../json/modules/ConversionFactorsJson.html | 4 +- .../modules/DriveConversionFactorsJson.html | 4 +- .../parser/json/modules/LocationJson.html | 4 +- .../parser/json/modules/package-summary.html | 4 +- .../parser/json/modules/package-tree.html | 4 +- .../parser/json/package-summary.html | 4 +- docs/swervelib/parser/json/package-tree.html | 4 +- docs/swervelib/parser/package-summary.html | 4 +- docs/swervelib/parser/package-tree.html | 4 +- .../simulation/SwerveIMUSimulation.html | 4 +- .../simulation/SwerveModuleSimulation.html | 4 +- .../swervelib/simulation/package-summary.html | 4 +- docs/swervelib/simulation/package-tree.html | 4 +- docs/swervelib/telemetry/Alert.AlertType.html | 4 +- .../telemetry/Alert.SendableAlerts.html | 4 +- docs/swervelib/telemetry/Alert.html | 4 +- ...SwerveDriveData.SwerveDriveDataStruct.html | 275 +++++++++++++ docs/swervelib/telemetry/SwerveDriveData.html | 221 ++++++++++ ...erveDriveTelemetry.TelemetryVerbosity.html | 4 +- .../telemetry/SwerveDriveTelemetry.html | 4 +- .../swervelib/telemetry/SwerveModuleData.html | 132 ++++++ docs/swervelib/telemetry/package-summary.html | 4 +- docs/swervelib/telemetry/package-tree.html | 4 +- docs/type-search-index.js | 2 +- swervelib/imu/CanandgyroSwerve.java | 140 +++++++ swervelib/parser/json/DeviceJson.java | 3 + 121 files changed, 1560 insertions(+), 333 deletions(-) create mode 100644 docs/swervelib/imu/CanandgyroSwerve.html create mode 100644 docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html create mode 100644 docs/swervelib/telemetry/SwerveDriveData.html create mode 100644 docs/swervelib/telemetry/SwerveModuleData.html create mode 100644 swervelib/imu/CanandgyroSwerve.java diff --git a/docs/allclasses-index.html b/docs/allclasses-index.html index 00d47cc..66eefd9 100644 --- a/docs/allclasses-index.html +++ b/docs/allclasses-index.html @@ -1,11 +1,11 @@ - + All Classes and Interfaces - + @@ -104,198 +104,202 @@

All Classes and Interfaces<
Cache for frequently requested data.
-
CanAndMagSwerve
+
CanandgyroSwerve
-
HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
+
SwerveIMU interface for the Boron Candandgyro by Redux Robotics
-
CANCoderSwerve
+
CanAndMagSwerve
-
Swerve Absolute Encoder for CTRE CANCoders.
+
HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
-
ControllerPropertiesJson
+
CANCoderSwerve
-
SwerveController parsed class.
+
Swerve Absolute Encoder for CTRE CANCoders.
-
ConversionFactorsJson
+
ControllerPropertiesJson
-
Conversion Factors parsed JSON class
+
SwerveController parsed class.
-
DeviceJson
+
ConversionFactorsJson
-
Device JSON parsed class.
+
Conversion Factors parsed JSON class
-
DriveConversionFactorsJson
+
DeviceJson
-
Drive motor composite JSON parse class.
+
Device JSON parsed class.
-
IMULinearMovingAverageFilter
+
DriveConversionFactorsJson
+
Drive motor composite JSON parse class.
+
+
IMULinearMovingAverageFilter
+
A linear filter that does not calculate() each time a value is added to the DoubleCircularBuffer.
-
IMUVelocity
-
+
IMUVelocity
+
Generic IMU Velocity filter.
-
LocationJson
-
+
LocationJson
+
Location JSON parsed class.
-
Matter
-
+
Matter
+
Object with significant mass that needs to be taken into account.
-
ModuleJson
-
+
ModuleJson
+
SwerveModule JSON parsed class.
-
MotorConfigDouble
-
+
MotorConfigDouble
+
Used to store doubles for motor configuration.
-
MotorConfigInt
-
+
MotorConfigInt
+
Used to store ints for motor configuration.
-
NavXSwerve
-
+
NavXSwerve
+
Communicates with the NavX as the IMU.
-
PhysicalPropertiesJson
-
+
PhysicalPropertiesJson
+
SwerveModulePhysicalCharacteristics parsed data.
-
PIDFConfig
-
+
PIDFConfig
+
Hold the PIDF and Integral Zone values for a PID.
-
PIDFPropertiesJson
-
+
PIDFPropertiesJson
+
SwerveModule PID with Feedforward for the drive motor and angle motor.
-
PIDFRange
-
+
PIDFRange
+
Class to hold the minimum and maximum input or output of the PIDF.
-
Pigeon2Swerve
-
+
Pigeon2Swerve
+
SwerveIMU interface for the Pigeon2
-
PigeonSwerve
-
+
PigeonSwerve
+
SwerveIMU interface for the Pigeon.
-
PWMDutyCycleEncoderSwerve
-
+
PWMDutyCycleEncoderSwerve
+
DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder." attached via a PWM lane.
-
SparkFlexSwerve
-
+
SparkFlexSwerve
+
An implementation of CANSparkFlex as a SwerveMotor.
-
SparkFlexSwerve.SparkMAX_slotIdx
-
+
SparkFlexSwerve.SparkMAX_slotIdx
+
REV Slots for PID configuration.
-
SparkMaxAnalogEncoderSwerve
-
+
SparkMaxAnalogEncoderSwerve
+
SparkMax absolute encoder, attached through the data port analog pin.
-
SparkMaxBrushedMotorSwerve
-
+
SparkMaxBrushedMotorSwerve
+
Brushed motor control with SparkMax.
-
SparkMaxEncoderSwerve
-
+
SparkMaxEncoderSwerve
+
SparkMax absolute encoder, attached through the data port.
-
SparkMaxSwerve
-
+
SparkMaxSwerve
+
An implementation of CANSparkMax as a SwerveMotor.
-
SparkMaxSwerve.SparkMAX_slotIdx
-
+
SparkMaxSwerve.SparkMAX_slotIdx
+
REV Slots for PID configuration.
-
SwerveAbsoluteEncoder
-
+
SwerveAbsoluteEncoder
+
Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
-
SwerveController
-
+
SwerveController
+
Controller class used to convert raw inputs into robot speeds.
-
SwerveControllerConfiguration
-
+
SwerveControllerConfiguration
+
Swerve Controller configuration class which is used to configure SwerveController.
-
SwerveDrive
-
+
SwerveDrive
+
Swerve Drive class representing and controlling the swerve drive.
-
SwerveDriveConfiguration
-
+
SwerveDriveConfiguration
+
Swerve drive configurations used during SwerveDrive construction.
-
SwerveDriveJson
-
+
SwerveDriveJson
+
SwerveDrive JSON parsed class.
-
SwerveDriveTelemetry
-
+
SwerveDriveTelemetry
+
Telemetry to describe the SwerveDrive following frc-web-components.
-
SwerveDriveTelemetry.TelemetryVerbosity
-
+
SwerveDriveTelemetry.TelemetryVerbosity
+
Verbosity of telemetry data sent back.
-
SwerveDriveTest
-
+
SwerveDriveTest
+
Class to perform tests on the swerve drive.
-
SwerveIMU
-
+
SwerveIMU
+
Swerve IMU abstraction to define a standard interface with a swerve drive.
-
SwerveIMUSimulation
-
+
SwerveIMUSimulation
+
Simulation for SwerveDrive IMU.
-
SwerveMath
-
+
SwerveMath
+
Mathematical functions which pertain to swerve drive.
-
SwerveModule
-
+
SwerveModule
+
The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
-
SwerveModuleConfiguration
-
+
SwerveModuleConfiguration
+
Swerve Module configuration class which is used to configure SwerveModule.
-
SwerveModulePhysicalCharacteristics
-
+
SwerveModulePhysicalCharacteristics
+
Configuration class which stores physical characteristics shared between every swerve module.
-
SwerveModuleSimulation
-
+
SwerveModuleSimulation
+
Class to hold simulation data for SwerveModule
-
SwerveMotor
-
+
SwerveMotor
+
Swerve motor abstraction which defines a standard interface for motors within a swerve module.
-
SwerveParser
-
+
SwerveParser
+
Helper class used to parse the JSON directory with specified configuration options.
-
TalonFXSwerve
-
+
TalonFXSwerve
+
TalonFX Swerve Motor.
-
TalonSRXSwerve
-
+
TalonSRXSwerve
+
WPI_TalonSRX Swerve Motor.
diff --git a/docs/allpackages-index.html b/docs/allpackages-index.html index 8814586..b37dd32 100644 --- a/docs/allpackages-index.html +++ b/docs/allpackages-index.html @@ -1,11 +1,11 @@ - + All Packages - + diff --git a/docs/constant-values.html b/docs/constant-values.html index 7d739a3..4979624 100644 --- a/docs/constant-values.html +++ b/docs/constant-values.html @@ -1,11 +1,11 @@ - + Constant Field Values - + diff --git a/docs/help-doc.html b/docs/help-doc.html index ca3580f..8c523de 100644 --- a/docs/help-doc.html +++ b/docs/help-doc.html @@ -1,11 +1,11 @@ - + API Help - + diff --git a/docs/index-files/index-1.html b/docs/index-files/index-1.html index 277368d..7db5fd1 100644 --- a/docs/index-files/index-1.html +++ b/docs/index-files/index-1.html @@ -1,11 +1,11 @@ - + A-Index - + diff --git a/docs/index-files/index-10.html b/docs/index-files/index-10.html index 22e5a6a..8fc5d3b 100644 --- a/docs/index-files/index-10.html +++ b/docs/index-files/index-10.html @@ -1,11 +1,11 @@ - + K-Index - + diff --git a/docs/index-files/index-11.html b/docs/index-files/index-11.html index 163704c..a3805bd 100644 --- a/docs/index-files/index-11.html +++ b/docs/index-files/index-11.html @@ -1,11 +1,11 @@ - + L-Index - + diff --git a/docs/index-files/index-12.html b/docs/index-files/index-12.html index 163a6b3..a00dfb7 100644 --- a/docs/index-files/index-12.html +++ b/docs/index-files/index-12.html @@ -1,11 +1,11 @@ - + M-Index - + diff --git a/docs/index-files/index-13.html b/docs/index-files/index-13.html index 99147c3..193aec4 100644 --- a/docs/index-files/index-13.html +++ b/docs/index-files/index-13.html @@ -1,11 +1,11 @@ - + N-Index - + diff --git a/docs/index-files/index-14.html b/docs/index-files/index-14.html index bdd7988..2dd5770 100644 --- a/docs/index-files/index-14.html +++ b/docs/index-files/index-14.html @@ -1,11 +1,11 @@ - + O-Index - + @@ -81,6 +81,10 @@

O

Offset for the analog gyro.
+
offset - Variable in class swervelib.imu.CanandgyroSwerve
+
+
Offset for the Boron Canandgyro.
+
offset - Variable in class swervelib.imu.NavXSwerve
Offset for the NavX.
diff --git a/docs/index-files/index-15.html b/docs/index-files/index-15.html index 8a4dde6..0a4ab82 100644 --- a/docs/index-files/index-15.html +++ b/docs/index-files/index-15.html @@ -1,11 +1,11 @@ - + P-Index - + diff --git a/docs/index-files/index-16.html b/docs/index-files/index-16.html index 8cd2236..ca2101f 100644 --- a/docs/index-files/index-16.html +++ b/docs/index-files/index-16.html @@ -1,11 +1,11 @@ - + Q-Index - + diff --git a/docs/index-files/index-17.html b/docs/index-files/index-17.html index 5269f9e..c1fa2c8 100644 --- a/docs/index-files/index-17.html +++ b/docs/index-files/index-17.html @@ -1,11 +1,11 @@ - + R-Index - + diff --git a/docs/index-files/index-18.html b/docs/index-files/index-18.html index 12cf665..da45893 100644 --- a/docs/index-files/index-18.html +++ b/docs/index-files/index-18.html @@ -1,11 +1,11 @@ - + S-Index - + @@ -297,6 +297,10 @@

S

Set the gyro to invert its default direction
+
setInverted(boolean) - Method in class swervelib.imu.CanandgyroSwerve
+
+
Set the gyro to invert its default direction
+
setInverted(boolean) - Method in class swervelib.imu.NavXSwerve
Set the gyro to invert its default direction
@@ -441,6 +445,10 @@

S

Set the gyro offset.
+
setOffset(Rotation3d) - Method in class swervelib.imu.CanandgyroSwerve
+
+
Set the gyro offset.
+
setOffset(Rotation3d) - Method in class swervelib.imu.NavXSwerve
Set the gyro offset.
@@ -686,6 +694,10 @@

S

Wait time for status frames to show up.
+
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.imu.CanandgyroSwerve
+
+
Wait time for status frames to show up.
+
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.imu.Pigeon2Swerve
Wait time for status frames to show up.
diff --git a/docs/index-files/index-19.html b/docs/index-files/index-19.html index bff63c5..571c915 100644 --- a/docs/index-files/index-19.html +++ b/docs/index-files/index-19.html @@ -1,11 +1,11 @@ - + T-Index - + diff --git a/docs/index-files/index-2.html b/docs/index-files/index-2.html index 3df73ef..3360a49 100644 --- a/docs/index-files/index-2.html +++ b/docs/index-files/index-2.html @@ -1,11 +1,11 @@ - + B-Index - + diff --git a/docs/index-files/index-20.html b/docs/index-files/index-20.html index 25bf0a4..5aa650c 100644 --- a/docs/index-files/index-20.html +++ b/docs/index-files/index-20.html @@ -1,11 +1,11 @@ - + U-Index - + diff --git a/docs/index-files/index-21.html b/docs/index-files/index-21.html index 3c10ebf..e7d69bf 100644 --- a/docs/index-files/index-21.html +++ b/docs/index-files/index-21.html @@ -1,11 +1,11 @@ - + V-Index - + diff --git a/docs/index-files/index-22.html b/docs/index-files/index-22.html index 0b67995..0d943ca 100644 --- a/docs/index-files/index-22.html +++ b/docs/index-files/index-22.html @@ -1,11 +1,11 @@ - + W-Index - + diff --git a/docs/index-files/index-23.html b/docs/index-files/index-23.html index 7fc6a31..96dae00 100644 --- a/docs/index-files/index-23.html +++ b/docs/index-files/index-23.html @@ -1,11 +1,11 @@ - + X-Index - + diff --git a/docs/index-files/index-24.html b/docs/index-files/index-24.html index fc2f8d4..285117f 100644 --- a/docs/index-files/index-24.html +++ b/docs/index-files/index-24.html @@ -1,11 +1,11 @@ - + Y-Index - + diff --git a/docs/index-files/index-25.html b/docs/index-files/index-25.html index 9c17c42..908a4d3 100644 --- a/docs/index-files/index-25.html +++ b/docs/index-files/index-25.html @@ -1,11 +1,11 @@ - + Z-Index - + diff --git a/docs/index-files/index-3.html b/docs/index-files/index-3.html index 32ef29b..133f5c3 100644 --- a/docs/index-files/index-3.html +++ b/docs/index-files/index-3.html @@ -1,11 +1,11 @@ - + C-Index - + @@ -105,6 +105,14 @@

C

Calculate the meters per rotation for the integrated encoder.
+
CanandgyroSwerve - Class in swervelib.imu
+
+
SwerveIMU interface for the Boron Candandgyro by Redux Robotics
+
+
CanandgyroSwerve(int) - Constructor for class swervelib.imu.CanandgyroSwerve
+
+
Generate the SwerveIMU for Canandgyro.
+
CanAndMagSwerve - Class in swervelib.encoders
HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
@@ -210,6 +218,10 @@

C

Clear sticky faults on IMU.
+
clearStickyFaults() - Method in class swervelib.imu.CanandgyroSwerve
+
+
Clear sticky faults on IMU.
+
clearStickyFaults() - Method in class swervelib.imu.NavXSwerve
Clear sticky faults on IMU.
diff --git a/docs/index-files/index-4.html b/docs/index-files/index-4.html index 187b3ef..29a3575 100644 --- a/docs/index-files/index-4.html +++ b/docs/index-files/index-4.html @@ -1,11 +1,11 @@ - + D-Index - + diff --git a/docs/index-files/index-5.html b/docs/index-files/index-5.html index 6441c8c..bf3e39d 100644 --- a/docs/index-files/index-5.html +++ b/docs/index-files/index-5.html @@ -1,11 +1,11 @@ - + E-Index - + diff --git a/docs/index-files/index-6.html b/docs/index-files/index-6.html index 3bb3f33..1455029 100644 --- a/docs/index-files/index-6.html +++ b/docs/index-files/index-6.html @@ -1,11 +1,11 @@ - + F-Index - + @@ -109,6 +109,10 @@

F

Reset IMU to factory default.
+
factoryDefault() - Method in class swervelib.imu.CanandgyroSwerve
+
+
Reset IMU to factory default.
+
factoryDefault() - Method in class swervelib.imu.NavXSwerve
Reset IMU to factory default.
diff --git a/docs/index-files/index-7.html b/docs/index-files/index-7.html index 0618573..ff4d8e5 100644 --- a/docs/index-files/index-7.html +++ b/docs/index-files/index-7.html @@ -1,11 +1,11 @@ - + G-Index - + @@ -149,6 +149,10 @@

G

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
getAccel() - Method in class swervelib.imu.CanandgyroSwerve
+
+
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
+
getAccel() - Method in class swervelib.imu.NavXSwerve
Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
@@ -257,6 +261,10 @@

G

Get the instantiated IMU object.
+
getIMU() - Method in class swervelib.imu.CanandgyroSwerve
+
+
Get the instantiated IMU object.
+
getIMU() - Method in class swervelib.imu.NavXSwerve
Get the instantiated IMU object.
@@ -391,6 +399,10 @@

G

Fetch the rotation rate from the IMU in degrees per second.
+
getRate() - Method in class swervelib.imu.CanandgyroSwerve
+
+
Fetch the rotation rate from the IMU in degrees per second.
+
getRate() - Method in class swervelib.imu.NavXSwerve
Fetch the rotation rate from the IMU in degrees per second.
@@ -427,6 +439,10 @@

G

Fetch the Rotation3d from the IMU without any zeroing.
+
getRawRotation3d() - Method in class swervelib.imu.CanandgyroSwerve
+
+
Fetch the Rotation3d from the IMU without any zeroing.
+
getRawRotation3d() - Method in class swervelib.imu.NavXSwerve
Fetch the Rotation3d from the IMU without any zeroing.
@@ -483,6 +499,10 @@

G

Fetch the Rotation3d from the IMU.
+
getRotation3d() - Method in class swervelib.imu.CanandgyroSwerve
+
+
Fetch the Rotation3d from the IMU.
+
getRotation3d() - Method in class swervelib.imu.NavXSwerve
Fetch the Rotation3d from the IMU.
diff --git a/docs/index-files/index-8.html b/docs/index-files/index-8.html index b5b93c3..32767fe 100644 --- a/docs/index-files/index-8.html +++ b/docs/index-files/index-8.html @@ -1,11 +1,11 @@ - + H-Index - + diff --git a/docs/index-files/index-9.html b/docs/index-files/index-9.html index 9194e13..ea84de3 100644 --- a/docs/index-files/index-9.html +++ b/docs/index-files/index-9.html @@ -1,11 +1,11 @@ - + I-Index - + @@ -81,6 +81,10 @@

I

Gyroscope object.
+
imu - Variable in class swervelib.imu.CanandgyroSwerve
+
+
Boron Canandgyro by Redux Robotics.
+
imu - Variable in class swervelib.imu.NavXSwerve
NavX IMU.
@@ -172,6 +176,10 @@

I

Inversion for the gyro
+
invertedIMU - Variable in class swervelib.imu.CanandgyroSwerve
+
+
Inversion for the gyro
+
invertedIMU - Variable in class swervelib.imu.NavXSwerve
Inversion for the gyro
diff --git a/docs/index.html b/docs/index.html index c5a4613..e5190da 100644 --- a/docs/index.html +++ b/docs/index.html @@ -1,11 +1,11 @@ - + Overview - + diff --git a/docs/member-search-index.js b/docs/member-search-index.js index a78a1e8..cc3321d 100644 --- a/docs/member-search-index.js +++ b/docs/member-search-index.js @@ -1 +1 @@ -memberSearchIndex = 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Class Hierarchy

  • swervelib.imu.ADIS16470Swerve
  • swervelib.imu.ADXRS450Swerve
  • swervelib.imu.AnalogGyroSwerve
    • +
  • swervelib.imu.CanandgyroSwerve
  • swervelib.imu.NavXSwerve
  • swervelib.imu.Pigeon2Swerve
  • swervelib.imu.PigeonSwerve
    • diff --git a/docs/swervelib/SwerveController.html b/docs/swervelib/SwerveController.html index fc25d97..96d3fd5 100644 --- a/docs/swervelib/SwerveController.html +++ b/docs/swervelib/SwerveController.html @@ -1,11 +1,11 @@ - + SwerveController - + diff --git a/docs/swervelib/SwerveDrive.html b/docs/swervelib/SwerveDrive.html index db57af1..adb0dc8 100644 --- a/docs/swervelib/SwerveDrive.html +++ b/docs/swervelib/SwerveDrive.html @@ -1,11 +1,11 @@ - + SwerveDrive - + diff --git a/docs/swervelib/SwerveDriveTest.html b/docs/swervelib/SwerveDriveTest.html index adfbb0a..73ac1c8 100644 --- a/docs/swervelib/SwerveDriveTest.html +++ b/docs/swervelib/SwerveDriveTest.html @@ -1,11 +1,11 @@ - + SwerveDriveTest - + diff --git a/docs/swervelib/SwerveModule.html b/docs/swervelib/SwerveModule.html index 6f3b7e1..6936722 100644 --- a/docs/swervelib/SwerveModule.html +++ b/docs/swervelib/SwerveModule.html @@ -1,11 +1,11 @@ - + SwerveModule - + diff --git a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html index 88176a5..1eee2ca 100644 --- a/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html +++ b/docs/swervelib/encoders/AnalogAbsoluteEncoderSwerve.html @@ -1,11 +1,11 @@ - + AnalogAbsoluteEncoderSwerve - + diff --git a/docs/swervelib/encoders/CANCoderSwerve.html b/docs/swervelib/encoders/CANCoderSwerve.html index a520987..e485561 100644 --- a/docs/swervelib/encoders/CANCoderSwerve.html +++ b/docs/swervelib/encoders/CANCoderSwerve.html @@ -1,11 +1,11 @@ - + CANCoderSwerve - + diff --git a/docs/swervelib/encoders/CanAndMagSwerve.html b/docs/swervelib/encoders/CanAndMagSwerve.html index 3e65912..e6cca70 100644 --- a/docs/swervelib/encoders/CanAndMagSwerve.html +++ b/docs/swervelib/encoders/CanAndMagSwerve.html @@ -1,11 +1,11 @@ - + CanAndMagSwerve - + diff --git a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html index 34a8ab2..ad46e94 100644 --- a/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html +++ b/docs/swervelib/encoders/PWMDutyCycleEncoderSwerve.html @@ -1,11 +1,11 @@ - + PWMDutyCycleEncoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html index bc84303..e1f805d 100644 --- a/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxAnalogEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxAnalogEncoderSwerve - + diff --git a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html index a1b682f..d215f3c 100644 --- a/docs/swervelib/encoders/SparkMaxEncoderSwerve.html +++ b/docs/swervelib/encoders/SparkMaxEncoderSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxEncoderSwerve - + diff --git a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html index 748fc5f..d05c9b3 100644 --- a/docs/swervelib/encoders/SwerveAbsoluteEncoder.html +++ b/docs/swervelib/encoders/SwerveAbsoluteEncoder.html @@ -1,11 +1,11 @@ - + SwerveAbsoluteEncoder - + diff --git a/docs/swervelib/encoders/package-summary.html b/docs/swervelib/encoders/package-summary.html index ea7cb5d..48a09bc 100644 --- a/docs/swervelib/encoders/package-summary.html +++ b/docs/swervelib/encoders/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.encoders - + diff --git a/docs/swervelib/encoders/package-tree.html b/docs/swervelib/encoders/package-tree.html index 333b2be..f94463c 100644 --- a/docs/swervelib/encoders/package-tree.html +++ b/docs/swervelib/encoders/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.encoders Class Hierarchy - + diff --git a/docs/swervelib/imu/ADIS16448Swerve.html b/docs/swervelib/imu/ADIS16448Swerve.html index 960bcf9..3a91c7d 100644 --- a/docs/swervelib/imu/ADIS16448Swerve.html +++ b/docs/swervelib/imu/ADIS16448Swerve.html @@ -1,11 +1,11 @@ - + ADIS16448Swerve - + diff --git a/docs/swervelib/imu/ADIS16470Swerve.html b/docs/swervelib/imu/ADIS16470Swerve.html index 1a7f1a5..72cb34e 100644 --- a/docs/swervelib/imu/ADIS16470Swerve.html +++ b/docs/swervelib/imu/ADIS16470Swerve.html @@ -1,11 +1,11 @@ - + ADIS16470Swerve - + diff --git a/docs/swervelib/imu/ADXRS450Swerve.html b/docs/swervelib/imu/ADXRS450Swerve.html index e8c6294..9c4edb1 100644 --- a/docs/swervelib/imu/ADXRS450Swerve.html +++ b/docs/swervelib/imu/ADXRS450Swerve.html @@ -1,11 +1,11 @@ - + ADXRS450Swerve - + diff --git a/docs/swervelib/imu/AnalogGyroSwerve.html b/docs/swervelib/imu/AnalogGyroSwerve.html index 00038fb..c01bffb 100644 --- a/docs/swervelib/imu/AnalogGyroSwerve.html +++ b/docs/swervelib/imu/AnalogGyroSwerve.html @@ -1,11 +1,11 @@ - + AnalogGyroSwerve - + diff --git a/docs/swervelib/imu/CanandgyroSwerve.html b/docs/swervelib/imu/CanandgyroSwerve.html new file mode 100644 index 0000000..3c79c8f --- /dev/null +++ b/docs/swervelib/imu/CanandgyroSwerve.html @@ -0,0 +1,386 @@ + + + + +CanandgyroSwerve + + + + + + + + + + + + + + + +
    + +
    +
    + +
    +
    Package swervelib.imu
    +

    Class CanandgyroSwerve

    +
    +
    java.lang.Object +
    swervelib.imu.SwerveIMU +
    swervelib.imu.CanandgyroSwerve
    +
    +
    +
    +
    +
    public class CanandgyroSwerve +extends SwerveIMU
    +
    SwerveIMU interface for the Boron Candandgyro by Redux Robotics
    +
    +
    +
      + +
    • +
      +

      Field Summary

      +
      Fields
      +
      +
      Modifier and Type
      +
      Field
      +
      Description
      +
      (package private) com.reduxrobotics.sensors.canandgyro.Canandgyro
      +
      imu
      +
      +
      Boron Canandgyro by Redux Robotics.
      +
      +
      private boolean
      +
      invertedIMU
      +
      +
      Inversion for the gyro
      +
      +
      private edu.wpi.first.math.geometry.Rotation3d
      +
      offset
      +
      +
      Offset for the Boron Canandgyro.
      +
      +
      static double
      +
      STATUS_TIMEOUT_SECONDS
      +
      +
      Wait time for status frames to show up.
      +
      +
      +
      +
      • + +
    • +
      +

      Constructor Summary

      +
      Constructors
      +
      +
      Constructor
      +
      Description
      +
      CanandgyroSwerve(int canid)
      +
      +
      Generate the SwerveIMU for Canandgyro.
      +
      +
      +
      +
      • + +
    • +
      +

      Method Summary

      +
      +
      +
      +
      +
      Modifier and Type
      +
      Method
      +
      Description
      +
      void
      +
      clearStickyFaults()
      +
      +
      Clear sticky faults on IMU.
      +
      +
      void
      +
      factoryDefault()
      +
      +
      Reset IMU to factory default.
      +
      +
      Optional<edu.wpi.first.math.geometry.Translation3d>
      +
      getAccel()
      +
      +
      Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
      +
      +
      Object
      +
      getIMU()
      +
      +
      Get the instantiated IMU object.
      +
      +
      double
      +
      getRate()
      +
      +
      Fetch the rotation rate from the IMU in degrees per second.
      +
      +
      edu.wpi.first.math.geometry.Rotation3d
      +
      getRawRotation3d()
      +
      +
      Fetch the Rotation3d from the IMU without any zeroing.
      +
      +
      edu.wpi.first.math.geometry.Rotation3d
      +
      getRotation3d()
      +
      +
      Fetch the Rotation3d from the IMU.
      +
      +
      void
      +
      setInverted(boolean invertIMU)
      +
      +
      Set the gyro to invert its default direction
      +
      +
      void
      +
      setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
      +
      +
      Set the gyro offset.
      +
      +
      +
      +
      +
      +

      Methods inherited from class java.lang.Object

      +clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
      +
      +
      • +
    +
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        STATUS_TIMEOUT_SECONDS

        +
        public static double STATUS_TIMEOUT_SECONDS
        +
        Wait time for status frames to show up.
        +
        +
        • +
      • +
        +

        imu

        +
        com.reduxrobotics.sensors.canandgyro.Canandgyro imu
        +
        Boron Canandgyro by Redux Robotics.
        +
        +
        • +
      • +
        +

        offset

        +
        private edu.wpi.first.math.geometry.Rotation3d offset
        +
        Offset for the Boron Canandgyro.
        +
        +
        • +
      • +
        +

        invertedIMU

        +
        private boolean invertedIMU
        +
        Inversion for the gyro
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        CanandgyroSwerve

        +
        public CanandgyroSwerve(int canid)
        +
        Generate the SwerveIMU for Canandgyro.
        +
        +
        Parameters:
        +
        canid - CAN ID for the Boron Canandgyro
        +
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Method Details

      +
        +
      • +
        +

        factoryDefault

        +
        public void factoryDefault()
        +
        Reset IMU to factory default.
        +
        +
        Specified by:
        +
        factoryDefault in class SwerveIMU
        +
        +
        +
        • +
      • +
        +

        clearStickyFaults

        +
        public void clearStickyFaults()
        +
        Clear sticky faults on IMU.
        +
        +
        Specified by:
        +
        clearStickyFaults in class SwerveIMU
        +
        +
        +
        • +
      • +
        +

        setOffset

        +
        public void setOffset(edu.wpi.first.math.geometry.Rotation3d offset)
        +
        Set the gyro offset.
        +
        +
        Specified by:
        +
        setOffset in class SwerveIMU
        +
        Parameters:
        +
        offset - gyro offset as a Rotation3d.
        +
        +
        +
        • +
      • +
        +

        setInverted

        +
        public void setInverted(boolean invertIMU)
        +
        Set the gyro to invert its default direction
        +
        +
        Specified by:
        +
        setInverted in class SwerveIMU
        +
        Parameters:
        +
        invertIMU - invert gyro direction
        +
        +
        +
        • +
      • +
        +

        getRawRotation3d

        +
        public edu.wpi.first.math.geometry.Rotation3d getRawRotation3d()
        +
        Fetch the Rotation3d from the IMU without any zeroing. Robot relative.
        +
        +
        Specified by:
        +
        getRawRotation3d in class SwerveIMU
        +
        Returns:
        +
        Rotation3d from the IMU.
        +
        +
        +
        • +
      • +
        +

        getRotation3d

        +
        public edu.wpi.first.math.geometry.Rotation3d getRotation3d()
        +
        Fetch the Rotation3d from the IMU. Robot relative.
        +
        +
        Specified by:
        +
        getRotation3d in class SwerveIMU
        +
        Returns:
        +
        Rotation3d from the IMU.
        +
        +
        +
        • +
      • +
        +

        getAccel

        +
        public Optional<edu.wpi.first.math.geometry.Translation3d> getAccel()
        +
        Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns + empty.
        +
        +
        Specified by:
        +
        getAccel in class SwerveIMU
        +
        Returns:
        +
        Translation3d of the acceleration as an Optional.
        +
        +
        +
        • +
      • +
        +

        getRate

        +
        public double getRate()
        +
        Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
        +
        +
        Specified by:
        +
        getRate in class SwerveIMU
        +
        Returns:
        +
        Double of the rotation rate as an Optional.
        +
        +
        +
        • +
      • +
        +

        getIMU

        +
        public Object getIMU()
        +
        Get the instantiated IMU object.
        +
        +
        Specified by:
        +
        getIMU in class SwerveIMU
        +
        Returns:
        +
        IMU object.
        +
        +
        +
        • +
      +
      +
      • +
    +
    + +
    +
    +
    + + diff --git a/docs/swervelib/imu/IMUVelocity.html b/docs/swervelib/imu/IMUVelocity.html index 0359be7..a4d9213 100644 --- a/docs/swervelib/imu/IMUVelocity.html +++ b/docs/swervelib/imu/IMUVelocity.html @@ -1,11 +1,11 @@ - + IMUVelocity - + diff --git a/docs/swervelib/imu/NavXSwerve.html b/docs/swervelib/imu/NavXSwerve.html index 2eefacb..2532b3f 100644 --- a/docs/swervelib/imu/NavXSwerve.html +++ b/docs/swervelib/imu/NavXSwerve.html @@ -1,11 +1,11 @@ - + NavXSwerve - + diff --git a/docs/swervelib/imu/Pigeon2Swerve.html b/docs/swervelib/imu/Pigeon2Swerve.html index c6fa832..b5026b3 100644 --- a/docs/swervelib/imu/Pigeon2Swerve.html +++ b/docs/swervelib/imu/Pigeon2Swerve.html @@ -1,11 +1,11 @@ - + Pigeon2Swerve - + diff --git a/docs/swervelib/imu/PigeonSwerve.html b/docs/swervelib/imu/PigeonSwerve.html index bcf3f05..07aaf1f 100644 --- a/docs/swervelib/imu/PigeonSwerve.html +++ b/docs/swervelib/imu/PigeonSwerve.html @@ -1,11 +1,11 @@ - + PigeonSwerve - + diff --git a/docs/swervelib/imu/SwerveIMU.html b/docs/swervelib/imu/SwerveIMU.html index ddeee9e..b0efd3f 100644 --- a/docs/swervelib/imu/SwerveIMU.html +++ b/docs/swervelib/imu/SwerveIMU.html @@ -1,11 +1,11 @@ - + SwerveIMU - + @@ -77,7 +77,7 @@

    Class SwerveIMU

    Direct Known Subclasses:
    -
    ADIS16448Swerve, ADIS16470Swerve, ADXRS450Swerve, AnalogGyroSwerve, NavXSwerve, Pigeon2Swerve, PigeonSwerve
    +
    ADIS16448Swerve, ADIS16470Swerve, ADXRS450Swerve, AnalogGyroSwerve, CanandgyroSwerve, NavXSwerve, Pigeon2Swerve, PigeonSwerve
    public abstract class SwerveIMU diff --git a/docs/swervelib/imu/package-summary.html b/docs/swervelib/imu/package-summary.html index 8f606f0..83173ea 100644 --- a/docs/swervelib/imu/package-summary.html +++ b/docs/swervelib/imu/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.imu - + @@ -100,24 +100,28 @@

    Package swervelib.imu

    Creates a IMU for AnalogGyro devices, only uses yaw.
    -
    IMUVelocity
    +
    CanandgyroSwerve
    -
    Generic IMU Velocity filter.
    +
    SwerveIMU interface for the Boron Candandgyro by Redux Robotics
    -
    NavXSwerve
    +
    IMUVelocity
    -
    Communicates with the NavX as the IMU.
    +
    Generic IMU Velocity filter.
    -
    Pigeon2Swerve
    +
    NavXSwerve
    -
    SwerveIMU interface for the Pigeon2
    +
    Communicates with the NavX as the IMU.
    -
    PigeonSwerve
    +
    Pigeon2Swerve
    -
    SwerveIMU interface for the Pigeon.
    +
    SwerveIMU interface for the Pigeon2
    -
    SwerveIMU
    +
    PigeonSwerve
    +
    SwerveIMU interface for the Pigeon.
    +
    +
    SwerveIMU
    +
    Swerve IMU abstraction to define a standard interface with a swerve drive.
    diff --git a/docs/swervelib/imu/package-tree.html b/docs/swervelib/imu/package-tree.html index b5ef9c3..dca8351 100644 --- a/docs/swervelib/imu/package-tree.html +++ b/docs/swervelib/imu/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.imu Class Hierarchy - + @@ -66,6 +66,7 @@

    Class Hierarchy

  • swervelib.imu.ADIS16470Swerve
  • swervelib.imu.ADXRS450Swerve
  • swervelib.imu.AnalogGyroSwerve
    • +
  • swervelib.imu.CanandgyroSwerve
  • swervelib.imu.NavXSwerve
  • swervelib.imu.Pigeon2Swerve
  • swervelib.imu.PigeonSwerve
    • diff --git a/docs/swervelib/math/IMULinearMovingAverageFilter.html b/docs/swervelib/math/IMULinearMovingAverageFilter.html index 519d382..e31343e 100644 --- a/docs/swervelib/math/IMULinearMovingAverageFilter.html +++ b/docs/swervelib/math/IMULinearMovingAverageFilter.html @@ -1,11 +1,11 @@ - + IMULinearMovingAverageFilter - + diff --git a/docs/swervelib/math/Matter.html b/docs/swervelib/math/Matter.html index 16fed99..ebb3632 100644 --- a/docs/swervelib/math/Matter.html +++ b/docs/swervelib/math/Matter.html @@ -1,11 +1,11 @@ - + Matter - + diff --git a/docs/swervelib/math/SwerveMath.html b/docs/swervelib/math/SwerveMath.html index a6897c1..cdec06b 100644 --- a/docs/swervelib/math/SwerveMath.html +++ b/docs/swervelib/math/SwerveMath.html @@ -1,11 +1,11 @@ - + SwerveMath - + diff --git a/docs/swervelib/math/package-summary.html b/docs/swervelib/math/package-summary.html index 54cdb0c..7c5e2aa 100644 --- a/docs/swervelib/math/package-summary.html +++ b/docs/swervelib/math/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.math - + diff --git a/docs/swervelib/math/package-tree.html b/docs/swervelib/math/package-tree.html index 5f66008..1acad1a 100644 --- a/docs/swervelib/math/package-tree.html +++ b/docs/swervelib/math/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.math Class Hierarchy - + diff --git a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html index c256846..c73e0a0 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkFlexSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkFlexSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkFlexSwerve.html b/docs/swervelib/motors/SparkFlexSwerve.html index 5399f88..34d3ed0 100644 --- a/docs/swervelib/motors/SparkFlexSwerve.html +++ b/docs/swervelib/motors/SparkFlexSwerve.html @@ -1,11 +1,11 @@ - + SparkFlexSwerve - + diff --git a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html index be8c0fc..7efc642 100644 --- a/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html +++ b/docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxBrushedMotorSwerve - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html index ad7dc8c..73b431a 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html +++ b/docs/swervelib/motors/SparkMaxSwerve.SparkMAX_slotIdx.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve.SparkMAX_slotIdx - + diff --git a/docs/swervelib/motors/SparkMaxSwerve.html b/docs/swervelib/motors/SparkMaxSwerve.html index 591174e..c8fbb36 100644 --- a/docs/swervelib/motors/SparkMaxSwerve.html +++ b/docs/swervelib/motors/SparkMaxSwerve.html @@ -1,11 +1,11 @@ - + SparkMaxSwerve - + diff --git a/docs/swervelib/motors/SwerveMotor.html b/docs/swervelib/motors/SwerveMotor.html index afc28ae..010fd99 100644 --- a/docs/swervelib/motors/SwerveMotor.html +++ b/docs/swervelib/motors/SwerveMotor.html @@ -1,11 +1,11 @@ - + SwerveMotor - + diff --git a/docs/swervelib/motors/TalonFXSwerve.html b/docs/swervelib/motors/TalonFXSwerve.html index e83dc47..653ce8b 100644 --- a/docs/swervelib/motors/TalonFXSwerve.html +++ b/docs/swervelib/motors/TalonFXSwerve.html @@ -1,11 +1,11 @@ - + TalonFXSwerve - + diff --git a/docs/swervelib/motors/TalonSRXSwerve.html b/docs/swervelib/motors/TalonSRXSwerve.html index 8f80cdb..084e181 100644 --- a/docs/swervelib/motors/TalonSRXSwerve.html +++ b/docs/swervelib/motors/TalonSRXSwerve.html @@ -1,11 +1,11 @@ - + TalonSRXSwerve - + diff --git a/docs/swervelib/motors/package-summary.html b/docs/swervelib/motors/package-summary.html index d53ae47..33b40af 100644 --- a/docs/swervelib/motors/package-summary.html +++ b/docs/swervelib/motors/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.motors - + diff --git a/docs/swervelib/motors/package-tree.html b/docs/swervelib/motors/package-tree.html index 347091a..ae01eae 100644 --- a/docs/swervelib/motors/package-tree.html +++ b/docs/swervelib/motors/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.motors Class Hierarchy - + diff --git a/docs/swervelib/package-summary.html b/docs/swervelib/package-summary.html index a053e1a..99c10a4 100644 --- a/docs/swervelib/package-summary.html +++ b/docs/swervelib/package-summary.html @@ -1,11 +1,11 @@ - + swervelib - + diff --git a/docs/swervelib/package-tree.html b/docs/swervelib/package-tree.html index f14b80c..c62a102 100644 --- a/docs/swervelib/package-tree.html +++ b/docs/swervelib/package-tree.html @@ -1,11 +1,11 @@ - + swervelib Class Hierarchy - + diff --git a/docs/swervelib/parser/Cache.html b/docs/swervelib/parser/Cache.html index 9a2b34c..027de0d 100644 --- a/docs/swervelib/parser/Cache.html +++ b/docs/swervelib/parser/Cache.html @@ -1,11 +1,11 @@ - + Cache - + diff --git a/docs/swervelib/parser/PIDFConfig.html b/docs/swervelib/parser/PIDFConfig.html index ed95cbc..bee5a2f 100644 --- a/docs/swervelib/parser/PIDFConfig.html +++ b/docs/swervelib/parser/PIDFConfig.html @@ -1,11 +1,11 @@ - + PIDFConfig - + diff --git a/docs/swervelib/parser/SwerveControllerConfiguration.html b/docs/swervelib/parser/SwerveControllerConfiguration.html index b0a1b6b..bbf94c5 100644 --- a/docs/swervelib/parser/SwerveControllerConfiguration.html +++ b/docs/swervelib/parser/SwerveControllerConfiguration.html @@ -1,11 +1,11 @@ - + SwerveControllerConfiguration - + diff --git a/docs/swervelib/parser/SwerveDriveConfiguration.html b/docs/swervelib/parser/SwerveDriveConfiguration.html index 1fe89f2..28cfe3c 100644 --- a/docs/swervelib/parser/SwerveDriveConfiguration.html +++ b/docs/swervelib/parser/SwerveDriveConfiguration.html @@ -1,11 +1,11 @@ - + SwerveDriveConfiguration - + diff --git a/docs/swervelib/parser/SwerveModuleConfiguration.html b/docs/swervelib/parser/SwerveModuleConfiguration.html index faf6771..53ee227 100644 --- a/docs/swervelib/parser/SwerveModuleConfiguration.html +++ b/docs/swervelib/parser/SwerveModuleConfiguration.html @@ -1,11 +1,11 @@ - + SwerveModuleConfiguration - + diff --git a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html index 4881e30..f28c9a3 100644 --- a/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html +++ b/docs/swervelib/parser/SwerveModulePhysicalCharacteristics.html @@ -1,11 +1,11 @@ - + SwerveModulePhysicalCharacteristics - + diff --git a/docs/swervelib/parser/SwerveParser.html b/docs/swervelib/parser/SwerveParser.html index 85e2e58..b2beb27 100644 --- a/docs/swervelib/parser/SwerveParser.html +++ b/docs/swervelib/parser/SwerveParser.html @@ -1,11 +1,11 @@ - + SwerveParser - + diff --git a/docs/swervelib/parser/deserializer/PIDFRange.html b/docs/swervelib/parser/deserializer/PIDFRange.html index 8cb57f5..d916dc8 100644 --- a/docs/swervelib/parser/deserializer/PIDFRange.html +++ b/docs/swervelib/parser/deserializer/PIDFRange.html @@ -1,11 +1,11 @@ - + PIDFRange - + diff --git a/docs/swervelib/parser/deserializer/package-summary.html b/docs/swervelib/parser/deserializer/package-summary.html index e0aea80..b90e675 100644 --- a/docs/swervelib/parser/deserializer/package-summary.html +++ b/docs/swervelib/parser/deserializer/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer - + diff --git a/docs/swervelib/parser/deserializer/package-tree.html b/docs/swervelib/parser/deserializer/package-tree.html index a5529ea..7517f3b 100644 --- a/docs/swervelib/parser/deserializer/package-tree.html +++ b/docs/swervelib/parser/deserializer/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.deserializer Class Hierarchy - + diff --git a/docs/swervelib/parser/json/ControllerPropertiesJson.html b/docs/swervelib/parser/json/ControllerPropertiesJson.html index 6e04c9e..c0f0c7c 100644 --- a/docs/swervelib/parser/json/ControllerPropertiesJson.html +++ b/docs/swervelib/parser/json/ControllerPropertiesJson.html @@ -1,11 +1,11 @@ - + ControllerPropertiesJson - + diff --git a/docs/swervelib/parser/json/DeviceJson.html b/docs/swervelib/parser/json/DeviceJson.html index dfdfa3d..b8333a5 100644 --- a/docs/swervelib/parser/json/DeviceJson.html +++ b/docs/swervelib/parser/json/DeviceJson.html @@ -1,11 +1,11 @@ - + DeviceJson - + diff --git a/docs/swervelib/parser/json/ModuleJson.html b/docs/swervelib/parser/json/ModuleJson.html index 16ac8ca..b076045 100644 --- a/docs/swervelib/parser/json/ModuleJson.html +++ b/docs/swervelib/parser/json/ModuleJson.html @@ -1,11 +1,11 @@ - + ModuleJson - + diff --git a/docs/swervelib/parser/json/MotorConfigDouble.html b/docs/swervelib/parser/json/MotorConfigDouble.html index e1ae9a5..9cd853e 100644 --- a/docs/swervelib/parser/json/MotorConfigDouble.html +++ b/docs/swervelib/parser/json/MotorConfigDouble.html @@ -1,11 +1,11 @@ - + MotorConfigDouble - + diff --git a/docs/swervelib/parser/json/MotorConfigInt.html b/docs/swervelib/parser/json/MotorConfigInt.html index bf943d8..1c5a462 100644 --- a/docs/swervelib/parser/json/MotorConfigInt.html +++ b/docs/swervelib/parser/json/MotorConfigInt.html @@ -1,11 +1,11 @@ - + MotorConfigInt - + diff --git a/docs/swervelib/parser/json/PIDFPropertiesJson.html b/docs/swervelib/parser/json/PIDFPropertiesJson.html index 0054d60..8b98dc2 100644 --- a/docs/swervelib/parser/json/PIDFPropertiesJson.html +++ b/docs/swervelib/parser/json/PIDFPropertiesJson.html @@ -1,11 +1,11 @@ - + PIDFPropertiesJson - + diff --git a/docs/swervelib/parser/json/PhysicalPropertiesJson.html b/docs/swervelib/parser/json/PhysicalPropertiesJson.html index d353dfe..18dbd73 100644 --- a/docs/swervelib/parser/json/PhysicalPropertiesJson.html +++ b/docs/swervelib/parser/json/PhysicalPropertiesJson.html @@ -1,11 +1,11 @@ - + PhysicalPropertiesJson - + diff --git a/docs/swervelib/parser/json/SwerveDriveJson.html b/docs/swervelib/parser/json/SwerveDriveJson.html index 2b2b9fd..9e953b9 100644 --- a/docs/swervelib/parser/json/SwerveDriveJson.html +++ b/docs/swervelib/parser/json/SwerveDriveJson.html @@ -1,11 +1,11 @@ - + SwerveDriveJson - + diff --git a/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html b/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html index f2ed9f9..c948f10 100644 --- a/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html +++ b/docs/swervelib/parser/json/modules/AngleConversionFactorsJson.html @@ -1,11 +1,11 @@ - + AngleConversionFactorsJson - + diff --git a/docs/swervelib/parser/json/modules/BoolMotorJson.html b/docs/swervelib/parser/json/modules/BoolMotorJson.html index 7b4fbb1..c07abd2 100644 --- a/docs/swervelib/parser/json/modules/BoolMotorJson.html +++ b/docs/swervelib/parser/json/modules/BoolMotorJson.html @@ -1,11 +1,11 @@ - + BoolMotorJson - + diff --git a/docs/swervelib/parser/json/modules/ConversionFactorsJson.html b/docs/swervelib/parser/json/modules/ConversionFactorsJson.html index 8456688..4ccff2c 100644 --- a/docs/swervelib/parser/json/modules/ConversionFactorsJson.html +++ b/docs/swervelib/parser/json/modules/ConversionFactorsJson.html @@ -1,11 +1,11 @@ - + ConversionFactorsJson - + diff --git a/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html b/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html index 69fe288..2534d4b 100644 --- a/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html +++ b/docs/swervelib/parser/json/modules/DriveConversionFactorsJson.html @@ -1,11 +1,11 @@ - + DriveConversionFactorsJson - + diff --git a/docs/swervelib/parser/json/modules/LocationJson.html b/docs/swervelib/parser/json/modules/LocationJson.html index 762b4e7..f07662d 100644 --- a/docs/swervelib/parser/json/modules/LocationJson.html +++ b/docs/swervelib/parser/json/modules/LocationJson.html @@ -1,11 +1,11 @@ - + LocationJson - + diff --git a/docs/swervelib/parser/json/modules/package-summary.html b/docs/swervelib/parser/json/modules/package-summary.html index 74bfec6..a45892c 100644 --- a/docs/swervelib/parser/json/modules/package-summary.html +++ b/docs/swervelib/parser/json/modules/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules - + diff --git a/docs/swervelib/parser/json/modules/package-tree.html b/docs/swervelib/parser/json/modules/package-tree.html index c874537..40630ec 100644 --- a/docs/swervelib/parser/json/modules/package-tree.html +++ b/docs/swervelib/parser/json/modules/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json.modules Class Hierarchy - + diff --git a/docs/swervelib/parser/json/package-summary.html b/docs/swervelib/parser/json/package-summary.html index 349f1e5..e39e2be 100644 --- a/docs/swervelib/parser/json/package-summary.html +++ b/docs/swervelib/parser/json/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser.json - + diff --git a/docs/swervelib/parser/json/package-tree.html b/docs/swervelib/parser/json/package-tree.html index 6e7f3fa..eaa4113 100644 --- a/docs/swervelib/parser/json/package-tree.html +++ b/docs/swervelib/parser/json/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser.json Class Hierarchy - + diff --git a/docs/swervelib/parser/package-summary.html b/docs/swervelib/parser/package-summary.html index 1c72328..d1194bf 100644 --- a/docs/swervelib/parser/package-summary.html +++ b/docs/swervelib/parser/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.parser - + diff --git a/docs/swervelib/parser/package-tree.html b/docs/swervelib/parser/package-tree.html index a97781e..f3c2c35 100644 --- a/docs/swervelib/parser/package-tree.html +++ b/docs/swervelib/parser/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.parser Class Hierarchy - + diff --git a/docs/swervelib/simulation/SwerveIMUSimulation.html b/docs/swervelib/simulation/SwerveIMUSimulation.html index 8d90361..c9a7a73 100644 --- a/docs/swervelib/simulation/SwerveIMUSimulation.html +++ b/docs/swervelib/simulation/SwerveIMUSimulation.html @@ -1,11 +1,11 @@ - + SwerveIMUSimulation - + diff --git a/docs/swervelib/simulation/SwerveModuleSimulation.html b/docs/swervelib/simulation/SwerveModuleSimulation.html index 53959b6..6e895bc 100644 --- a/docs/swervelib/simulation/SwerveModuleSimulation.html +++ b/docs/swervelib/simulation/SwerveModuleSimulation.html @@ -1,11 +1,11 @@ - + SwerveModuleSimulation - + diff --git a/docs/swervelib/simulation/package-summary.html b/docs/swervelib/simulation/package-summary.html index 7e3e5a0..6dba491 100644 --- a/docs/swervelib/simulation/package-summary.html +++ b/docs/swervelib/simulation/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.simulation - + diff --git a/docs/swervelib/simulation/package-tree.html b/docs/swervelib/simulation/package-tree.html index 5fa3b35..8084942 100644 --- a/docs/swervelib/simulation/package-tree.html +++ b/docs/swervelib/simulation/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.simulation Class Hierarchy - + diff --git a/docs/swervelib/telemetry/Alert.AlertType.html b/docs/swervelib/telemetry/Alert.AlertType.html index 67d5ddf..629d94e 100644 --- a/docs/swervelib/telemetry/Alert.AlertType.html +++ b/docs/swervelib/telemetry/Alert.AlertType.html @@ -1,11 +1,11 @@ - + Alert.AlertType - + diff --git a/docs/swervelib/telemetry/Alert.SendableAlerts.html b/docs/swervelib/telemetry/Alert.SendableAlerts.html index 032185c..ae095cf 100644 --- a/docs/swervelib/telemetry/Alert.SendableAlerts.html +++ b/docs/swervelib/telemetry/Alert.SendableAlerts.html @@ -1,11 +1,11 @@ - + Alert.SendableAlerts - + diff --git a/docs/swervelib/telemetry/Alert.html b/docs/swervelib/telemetry/Alert.html index f83d281..5062e6d 100644 --- a/docs/swervelib/telemetry/Alert.html +++ b/docs/swervelib/telemetry/Alert.html @@ -1,11 +1,11 @@ - + Alert - + diff --git a/docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html b/docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html new file mode 100644 index 0000000..9948e99 --- /dev/null +++ b/docs/swervelib/telemetry/SwerveDriveData.SwerveDriveDataStruct.html @@ -0,0 +1,275 @@ + + + + +SwerveDriveData.SwerveDriveDataStruct + + + + + + + + + + + + + + + +
    + +
    +
    + +
    +
    Package swervelib.telemetry
    +

    Class SwerveDriveData.SwerveDriveDataStruct

    +
    +
    java.lang.Object +
    swervelib.telemetry.SwerveDriveData.SwerveDriveDataStruct
    +
    +
    +
    +
    All Implemented Interfaces:
    +
    edu.wpi.first.util.struct.Struct<SwerveDriveData>
    +
    +
    +
    Enclosing class:
    +
    SwerveDriveData
    +
    +
    +
    public static class SwerveDriveData.SwerveDriveDataStruct +extends Object +implements edu.wpi.first.util.struct.Struct<SwerveDriveData>
    +
    +
    + +
    +
    +
      + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        SwerveDriveDataStruct

        +
        public SwerveDriveDataStruct()
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Method Details

      +
        +
      • +
        +

        getTypeClass

        +
        public Class<SwerveDriveData> getTypeClass()
        +
        +
        Specified by:
        +
        getTypeClass in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
        +
        +
        +
        • +
      • +
        +

        getTypeString

        +
        public String getTypeString()
        +
        +
        Specified by:
        +
        getTypeString in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
        +
        +
        +
        • +
      • +
        +

        getSize

        +
        public int getSize()
        +
        +
        Specified by:
        +
        getSize in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
        +
        +
        +
        • +
      • +
        +

        getSchema

        +
        public String getSchema()
        +
        +
        Specified by:
        +
        getSchema in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
        +
        +
        +
        • +
      • +
        +

        getNested

        +
        public edu.wpi.first.util.struct.Struct<?>[] getNested()
        +
        +
        Specified by:
        +
        getNested in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
        +
        +
        +
        • +
      • +
        +

        unpack

        +
        public SwerveDriveData unpack(ByteBuffer byteBuffer)
        +
        +
        Specified by:
        +
        unpack in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
        +
        +
        +
        • +
      • +
        +

        pack

        +
        public void pack(ByteBuffer byteBuffer, + SwerveDriveData swerveDriveData)
        +
        +
        Specified by:
        +
        pack in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
        +
        +
        +
        • +
      • +
        +

        unpackInto

        +
        public void unpackInto(SwerveDriveData out, + ByteBuffer bb)
        +
        +
        Specified by:
        +
        unpackInto in interface edu.wpi.first.util.struct.Struct<SwerveDriveData>
        +
        +
        +
        • +
      +
      +
      • +
    +
    + +
    +
    +
    + + diff --git a/docs/swervelib/telemetry/SwerveDriveData.html b/docs/swervelib/telemetry/SwerveDriveData.html new file mode 100644 index 0000000..ce1f252 --- /dev/null +++ b/docs/swervelib/telemetry/SwerveDriveData.html @@ -0,0 +1,221 @@ + + + + +SwerveDriveData + + + + + + + + + + + + + + + +
    + +
    +
    + +
    +
    Package swervelib.telemetry
    +

    Class SwerveDriveData

    +
    +
    java.lang.Object +
    swervelib.telemetry.SwerveDriveData
    +
    +
    +
    +
    All Implemented Interfaces:
    +
    edu.wpi.first.util.struct.StructSerializable, edu.wpi.first.util.WPISerializable
    +
    +
    +
    public class SwerveDriveData +extends Object +implements edu.wpi.first.util.struct.StructSerializable
    +
    +
    + +
    +
    +
      + +
    • +
      +

      Field Details

      +
        +
      • +
        +

        measuredVelocity

        +
        public edu.wpi.first.math.kinematics.ChassisSpeeds measuredVelocity
        +
        +
        • +
      • +
        +

        desiredVelocity

        +
        public edu.wpi.first.math.kinematics.ChassisSpeeds desiredVelocity
        +
        +
        • +
      • +
        +

        maxVelocity

        +
        public edu.wpi.first.math.kinematics.ChassisSpeeds maxVelocity
        +
        +
        • +
      • +
        +

        rawRotation

        +
        public edu.wpi.first.math.geometry.Rotation2d rawRotation
        +
        +
        • +
      • +
        +

        rotation

        +
        public edu.wpi.first.math.geometry.Rotation2d rotation
        +
        +
        • +
      • +
        +

        struct

        +
        public static SwerveDriveData.SwerveDriveDataStruct struct
        +
        +
        • +
      +
      +
      • + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        SwerveDriveData

        +
        public SwerveDriveData()
        +
        +
        • +
      +
      +
      • +
    +
    + +
    +
    +
    + + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html index 8e7f788..319cd35 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry.TelemetryVerbosity - + diff --git a/docs/swervelib/telemetry/SwerveDriveTelemetry.html b/docs/swervelib/telemetry/SwerveDriveTelemetry.html index abb474d..4daf31d 100644 --- a/docs/swervelib/telemetry/SwerveDriveTelemetry.html +++ b/docs/swervelib/telemetry/SwerveDriveTelemetry.html @@ -1,11 +1,11 @@ - + SwerveDriveTelemetry - + diff --git a/docs/swervelib/telemetry/SwerveModuleData.html b/docs/swervelib/telemetry/SwerveModuleData.html new file mode 100644 index 0000000..179fad6 --- /dev/null +++ b/docs/swervelib/telemetry/SwerveModuleData.html @@ -0,0 +1,132 @@ + + + + +SwerveModuleData + + + + + + + + + + + + + + + +
    + +
    +
    + +
    +
    Package swervelib.telemetry
    +

    Class SwerveModuleData

    +
    +
    java.lang.Object +
    swervelib.telemetry.SwerveModuleData
    +
    +
    +
    +
    All Implemented Interfaces:
    +
    edu.wpi.first.util.struct.StructSerializable, edu.wpi.first.util.WPISerializable
    +
    +
    +
    public class SwerveModuleData +extends Object +implements edu.wpi.first.util.struct.StructSerializable
    +
    +
    + +
    +
    +
      + +
    • +
      +

      Constructor Details

      +
        +
      • +
        +

        SwerveModuleData

        +
        public SwerveModuleData()
        +
        +
        • +
      +
      +
      • +
    +
    + +
    +
    +
    + + diff --git a/docs/swervelib/telemetry/package-summary.html b/docs/swervelib/telemetry/package-summary.html index cc8b398..8a6ef8a 100644 --- a/docs/swervelib/telemetry/package-summary.html +++ b/docs/swervelib/telemetry/package-summary.html @@ -1,11 +1,11 @@ - + swervelib.telemetry - + diff --git a/docs/swervelib/telemetry/package-tree.html b/docs/swervelib/telemetry/package-tree.html index 0d15c17..5ed7896 100644 --- a/docs/swervelib/telemetry/package-tree.html +++ b/docs/swervelib/telemetry/package-tree.html @@ -1,11 +1,11 @@ - + swervelib.telemetry Class Hierarchy - + diff --git a/docs/type-search-index.js b/docs/type-search-index.js index 1a07770..0a0e4d3 100644 --- a/docs/type-search-index.js +++ b/docs/type-search-index.js @@ -1 +1 @@ -typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"p":"swervelib.telemetry","l":"Alert"},{"p":"swervelib.telemetry","l":"Alert.AlertType"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.encoders","l":"AnalogAbsoluteEncoderSwerve"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"AngleConversionFactorsJson"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.parser","l":"Cache"},{"p":"swervelib.encoders","l":"CanAndMagSwerve"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json.modules","l":"ConversionFactorsJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"DriveConversionFactorsJson"},{"p":"swervelib.math","l":"IMULinearMovingAverageFilter"},{"p":"swervelib.imu","l":"IMUVelocity"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.math","l":"Matter"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.encoders","l":"PWMDutyCycleEncoderSwerve"},{"p":"swervelib.telemetry","l":"Alert.SendableAlerts"},{"p":"swervelib.motors","l":"SparkFlexSwerve"},{"p":"swervelib.motors","l":"SparkFlexSwerve.SparkMAX_slotIdx"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxAnalogEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxBrushedMotorSwerve"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry"},{"p":"swervelib","l":"SwerveDriveTest"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry.TelemetryVerbosity"}];updateSearchResults(); \ No newline at end of file +typeSearchIndex = [{"p":"swervelib.imu","l":"ADIS16448Swerve"},{"p":"swervelib.imu","l":"ADIS16470Swerve"},{"p":"swervelib.imu","l":"ADXRS450Swerve"},{"p":"swervelib.telemetry","l":"Alert"},{"p":"swervelib.telemetry","l":"Alert.AlertType"},{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"swervelib.encoders","l":"AnalogAbsoluteEncoderSwerve"},{"p":"swervelib.imu","l":"AnalogGyroSwerve"},{"p":"swervelib.parser.json.modules","l":"AngleConversionFactorsJson"},{"p":"swervelib.parser.json.modules","l":"BoolMotorJson"},{"p":"swervelib.parser","l":"Cache"},{"p":"swervelib.imu","l":"CanandgyroSwerve"},{"p":"swervelib.encoders","l":"CanAndMagSwerve"},{"p":"swervelib.encoders","l":"CANCoderSwerve"},{"p":"swervelib.parser.json","l":"ControllerPropertiesJson"},{"p":"swervelib.parser.json.modules","l":"ConversionFactorsJson"},{"p":"swervelib.parser.json","l":"DeviceJson"},{"p":"swervelib.parser.json.modules","l":"DriveConversionFactorsJson"},{"p":"swervelib.math","l":"IMULinearMovingAverageFilter"},{"p":"swervelib.imu","l":"IMUVelocity"},{"p":"swervelib.parser.json.modules","l":"LocationJson"},{"p":"swervelib.math","l":"Matter"},{"p":"swervelib.parser.json","l":"ModuleJson"},{"p":"swervelib.parser.json","l":"MotorConfigDouble"},{"p":"swervelib.parser.json","l":"MotorConfigInt"},{"p":"swervelib.imu","l":"NavXSwerve"},{"p":"swervelib.parser.json","l":"PhysicalPropertiesJson"},{"p":"swervelib.parser","l":"PIDFConfig"},{"p":"swervelib.parser.json","l":"PIDFPropertiesJson"},{"p":"swervelib.parser.deserializer","l":"PIDFRange"},{"p":"swervelib.imu","l":"Pigeon2Swerve"},{"p":"swervelib.imu","l":"PigeonSwerve"},{"p":"swervelib.encoders","l":"PWMDutyCycleEncoderSwerve"},{"p":"swervelib.telemetry","l":"Alert.SendableAlerts"},{"p":"swervelib.motors","l":"SparkFlexSwerve"},{"p":"swervelib.motors","l":"SparkFlexSwerve.SparkMAX_slotIdx"},{"p":"swervelib.motors","l":"SparkMaxSwerve.SparkMAX_slotIdx"},{"p":"swervelib.encoders","l":"SparkMaxAnalogEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxBrushedMotorSwerve"},{"p":"swervelib.encoders","l":"SparkMaxEncoderSwerve"},{"p":"swervelib.motors","l":"SparkMaxSwerve"},{"p":"swervelib.encoders","l":"SwerveAbsoluteEncoder"},{"p":"swervelib","l":"SwerveController"},{"p":"swervelib.parser","l":"SwerveControllerConfiguration"},{"p":"swervelib","l":"SwerveDrive"},{"p":"swervelib.parser","l":"SwerveDriveConfiguration"},{"p":"swervelib.parser.json","l":"SwerveDriveJson"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry"},{"p":"swervelib","l":"SwerveDriveTest"},{"p":"swervelib.imu","l":"SwerveIMU"},{"p":"swervelib.simulation","l":"SwerveIMUSimulation"},{"p":"swervelib.math","l":"SwerveMath"},{"p":"swervelib","l":"SwerveModule"},{"p":"swervelib.parser","l":"SwerveModuleConfiguration"},{"p":"swervelib.parser","l":"SwerveModulePhysicalCharacteristics"},{"p":"swervelib.simulation","l":"SwerveModuleSimulation"},{"p":"swervelib.motors","l":"SwerveMotor"},{"p":"swervelib.parser","l":"SwerveParser"},{"p":"swervelib.motors","l":"TalonFXSwerve"},{"p":"swervelib.motors","l":"TalonSRXSwerve"},{"p":"swervelib.telemetry","l":"SwerveDriveTelemetry.TelemetryVerbosity"}];updateSearchResults(); \ No newline at end of file diff --git a/swervelib/imu/CanandgyroSwerve.java b/swervelib/imu/CanandgyroSwerve.java new file mode 100644 index 0000000..1dc0995 --- /dev/null +++ b/swervelib/imu/CanandgyroSwerve.java @@ -0,0 +1,140 @@ +package swervelib.imu; + +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.Pigeon2Configuration; +import com.ctre.phoenix6.configs.Pigeon2Configurator; +import com.ctre.phoenix6.hardware.Pigeon2; +import com.reduxrobotics.sensors.canandgyro.Canandgyro; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import java.util.Optional; + +/** + * SwerveIMU interface for the Boron Candandgyro by Redux Robotics + */ +public class CanandgyroSwerve extends SwerveIMU +{ + + /** + * Wait time for status frames to show up. + */ + public static double STATUS_TIMEOUT_SECONDS = 0.04; + /** + * Boron Canandgyro by Redux Robotics. + */ + Canandgyro imu; + /** + * Offset for the Boron Canandgyro. + */ + private Rotation3d offset = new Rotation3d(); + /** + * Inversion for the gyro + */ + private boolean invertedIMU = false; + + /** + * Generate the SwerveIMU for {@link Canandgyro}. + * + * @param canid CAN ID for the Boron Canandgyro + */ + public CanandgyroSwerve(int canid) + { + imu = new Canandgyro(canid); + } + + /** + * Reset IMU to factory default. + */ + @Override + public void factoryDefault() + { + imu.resetFactoryDefaults(STATUS_TIMEOUT_SECONDS); + } + + /** + * Clear sticky faults on IMU. + */ + @Override + public void clearStickyFaults() + { + imu.clearStickyFaults(); + } + + /** + * Set the gyro offset. + * + * @param offset gyro offset as a {@link Rotation3d}. + */ + public void setOffset(Rotation3d offset) + { + this.offset = offset; + } + + /** + * Set the gyro to invert its default direction + * + * @param invertIMU invert gyro direction + */ + public void setInverted(boolean invertIMU) + { + invertedIMU = invertIMU; + } + + /** + * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRawRotation3d() + { + Rotation3d reading = imu.getRotation3d(); + return invertedIMU ? reading.unaryMinus() : reading; + } + + /** + * Fetch the {@link Rotation3d} from the IMU. Robot relative. + * + * @return {@link Rotation3d} from the IMU. + */ + @Override + public Rotation3d getRotation3d() + { + return getRawRotation3d().minus(offset); + } + + /** + * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns + * empty. + * + * @return {@link Translation3d} of the acceleration as an {@link Optional}. + */ + @Override + public Optional getAccel() + { + + return Optional.of(new Translation3d(imu.getAccelerationFrame().getValue()).times(9.81 / 16384.0)); + } + + /** + * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty. + * + * @return {@link Double} of the rotation rate as an {@link Optional}. + */ + public double getRate() + { + return imu.getAngularVelocityYaw(); + } + + /** + * Get the instantiated IMU object. + * + * @return IMU object. + */ + @Override + public Object getIMU() + { + return imu; + } +} diff --git a/swervelib/parser/json/DeviceJson.java b/swervelib/parser/json/DeviceJson.java index bcc269d..7ce6fc3 100644 --- a/swervelib/parser/json/DeviceJson.java +++ b/swervelib/parser/json/DeviceJson.java @@ -20,6 +20,7 @@ import swervelib.imu.ADIS16470Swerve; import swervelib.imu.ADXRS450Swerve; import swervelib.imu.AnalogGyroSwerve; +import swervelib.imu.CanandgyroSwerve; import swervelib.imu.NavXSwerve; import swervelib.imu.Pigeon2Swerve; import swervelib.imu.PigeonSwerve; @@ -117,6 +118,8 @@ public SwerveIMU createIMU() return new ADXRS450Swerve(); case "analog": return new AnalogGyroSwerve(id); + case "canandgyro": + return new CanandgyroSwerve(id); case "navx": case "navx_spi": return new NavXSwerve(SPI.Port.kMXP);