Package swervelib.parser

Class SwerveControllerConfiguration

java.lang.Object

swervelib.parser.SwerveControllerConfiguration

public class SwerveControllerConfiguration
extends Object

Swerve Controller configuration class which is used to configure SwerveController.

Field Summary

Fields

Modifier and Type	Field	Description
final double	angleJoyStickRadiusDeadband	hypotenuse deadband for the robot angle control joystick.
final PIDFConfig	headingPIDF	PIDF for the heading of the robot.
double	maxAngularVelocity	Maximum angular velocity in rad/s

Constructor Summary

Constructors

Constructor	Description
SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF, double maxSpeedMPS)	Construct the swerve controller configuration.
SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg, PIDFConfig headingPIDF, double angleJoyStickRadiusDeadband, double maxSpeedMPS)	Construct the swerve controller configuration.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

headingPIDF

public final PIDFConfig headingPIDF

PIDF for the heading of the robot.

angleJoyStickRadiusDeadband

public final double angleJoyStickRadiusDeadband

hypotenuse deadband for the robot angle control joystick.

maxAngularVelocity

public double maxAngularVelocity

Maximum angular velocity in rad/s

Constructor Details

SwerveControllerConfiguration

public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg,
 PIDFConfig headingPIDF,
 double angleJoyStickRadiusDeadband,
 double maxSpeedMPS)

Construct the swerve controller configuration. Assumes robot is square to fetch maximum angular velocity.

Parameters:

driveCfg - SwerveDriveConfiguration to fetch the first module X and Y used to calculate the maximum angular velocity.

headingPIDF - Heading PIDF configuration.

angleJoyStickRadiusDeadband - Deadband on radius of angle joystick.

maxSpeedMPS - Maximum speed in meters per second for angular velocity, remember if you have feet per second use Units.feetToMeters(double).

SwerveControllerConfiguration

public SwerveControllerConfiguration(SwerveDriveConfiguration driveCfg,
 PIDFConfig headingPIDF,
 double maxSpeedMPS)

Construct the swerve controller configuration. Assumes hypotenuse deadband of 0.5 (minimum radius for angle to be set on angle joystick is .5 of the controller).

Parameters:

driveCfg - Drive configuration.

headingPIDF - Heading PIDF configuration.

maxSpeedMPS - Maximum speed in meters per second for angular velocity, remember if you have feet per second use Units.feetToMeters(double).