Package swervelib.parser.json

Class ModuleJson

java.lang.Object
swervelib.parser.json.ModuleJson
public class ModuleJson extends Object
SwerveModule JSON parsed class. Used to access the JSON data.

  • Field Details

    • drive

      public DeviceJson drive
      Drive motor device configuration.

    • angle

      public DeviceJson angle
      Angle motor device configuration.

    • conversionFactor

      public MotorConfigDouble conversionFactor
      Conversion factor for the module, if different from the one in swervedrive.json

      Conversion factor applied to the motor controllers PID loops. Can be calculated with SwerveMath.calculateDegreesPerSteeringRotation(double, double) for angle motors or SwerveMath.calculateMetersPerRotation(double, double, double) for drive motors.

    • conversionFactors

      public ConversionFactorsJson conversionFactors
      Conversion Factors composition. Auto-calculates the conversion factors.

    • encoder

      public DeviceJson encoder
      Absolute encoder device configuration.

    • inverted

      public BoolMotorJson inverted
      Defines which motors are inverted.

    • absoluteEncoderOffset

      public double absoluteEncoderOffset
      Absolute encoder offset from 0 in degrees.

    • absoluteEncoderInverted

      public boolean absoluteEncoderInverted
      Absolute encoder inversion state.

    • location

      public LocationJson location
      The location of the swerve module from the center of the robot in inches.

    • useCosineCompensator

      public boolean useCosineCompensator
      Should do cosine compensation when not pointing correct direction;.

  • Constructor Details

    • ModuleJson

      public ModuleJson()

  • Method Details

    • createModuleConfiguration

      public SwerveModuleConfiguration createModuleConfiguration(PIDFConfig anglePIDF, PIDFConfig velocityPIDF, SwerveModulePhysicalCharacteristics physicalCharacteristics, String name)
      Create the swerve module configuration based off of parsed data.
      Parameters:
      anglePIDF - The PIDF values for the angle motor.
      velocityPIDF - The velocity PIDF values for the drive motor.
      physicalCharacteristics - Physical characteristics of the swerve module.
      name - Module json filename.
      Returns:
      SwerveModuleConfiguration based on the provided data and parsed data.