Package swervelib.parser

Class SwerveDriveConfiguration

java.lang.Object

swervelib.parser.SwerveDriveConfiguration

public class SwerveDriveConfiguration
extends Object

Swerve drive configurations used during SwerveDrive construction.

Field Summary

Fields

Modifier and Type	Field	Description
SwerveIMU	imu	Swerve IMU
int	moduleCount	Number of modules on the robot.
edu.wpi.first.math.geometry.Translation2d[]	moduleLocationsMeters	Swerve Module locations.
SwerveModule[]	modules	Swerve Modules.
SwerveModulePhysicalCharacteristics	physicalCharacteristics	Physical characteristics of the swerve drive from physicalproperties.json.

Constructor Summary

Constructors

Constructor	Description
SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, SwerveIMU swerveIMU, boolean invertedIMU, edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward, SwerveModulePhysicalCharacteristics physicalCharacteristics)	Create swerve drive configuration.

Method Summary

Modifier and Type	Method	Description
SwerveModule[]	createModules(SwerveModuleConfiguration[] swerves, edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)	Create modules based off of the SwerveModuleConfiguration.
double	getDriveBaseRadiusMeters()	Calculate the Drive Base Radius

Methods inherited from class java.lang.Object

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

Field Details

moduleLocationsMeters

public edu.wpi.first.math.geometry.Translation2d[] moduleLocationsMeters

Swerve Module locations.

imu

public SwerveIMU imu

Swerve IMU

moduleCount

public int moduleCount

Number of modules on the robot.

modules

public SwerveModule[] modules

Swerve Modules.

physicalCharacteristics

public SwerveModulePhysicalCharacteristics physicalCharacteristics

Physical characteristics of the swerve drive from physicalproperties.json.

Constructor Details

SwerveDriveConfiguration

public SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs,
 SwerveIMU swerveIMU,
 boolean invertedIMU,
 edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward,
 SwerveModulePhysicalCharacteristics physicalCharacteristics)

Create swerve drive configuration.

Parameters:

moduleConfigs - Module configuration.

swerveIMU - Swerve IMU.

invertedIMU - Invert the IMU.

driveFeedforward - The drive motor feedforward to use for the SwerveModule.

physicalCharacteristics - SwerveModulePhysicalCharacteristics to store in association with self.

Method Details

createModules

public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves,
 edu.wpi.first.math.controller.SimpleMotorFeedforward driveFeedforward)

Create modules based off of the SwerveModuleConfiguration.

Parameters:

swerves - Swerve constants.

driveFeedforward - Drive feedforward created using SwerveMath.createDriveFeedforward(double, double, double).

Returns:

Swerve Modules.

getDriveBaseRadiusMeters

public double getDriveBaseRadiusMeters()

Calculate the Drive Base Radius

Returns:

Drive base radius from center of robot to the farthest wheel in meters.